Method and system for relaying based on synaesthesia-integrated UAV

Abstract

The present invention discloses a method and system for relaying based on an integrated synaesthesia drone. The method uses an integrated synaesthesia drone as a relay node. Based on perceived information such as the user's location and orientation, the method utilizes passive beamforming technology on the drone's intelligent reflective surface to form a millimeter-wave beam directed toward the user. By adjusting the passive beam pointing and combining the user's centimeter-wave feedback signal, the angle direction with the maximum received power at the user is determined, and an angle correction is calculated. The method and system for relaying based on an integrated synaesthesia drone of the present invention can suppress the impact of perception errors in the integrated synaesthesia technology, ensuring the millimeter-wave communication quality of the drone relay node.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless communications, and in particular relates to a method and system for relaying based on a synaesthesia-integrated unmanned aerial vehicle. Background Art

[0002] The millimeter wave band boasts a significant amount of untapped frequency bandwidth, effectively alleviating the frequency resource shortage in communication systems. It can also significantly increase data transmission rates, meeting the demands of applications such as ultra-high-definition video, and has garnered widespread attention. However, millimeter wave signals experience significant path loss during transmission and are highly sensitive to obstructions. Therefore, beamforming is typically used to ensure the quality of received millimeter wave signals in unobstructed conditions. Unfortunately, in real-world scenarios, it is difficult to guarantee a consistent, unobstructed transmission path between base stations and users. Using drones as relay nodes can effectively address this issue.

[0003] Synaesthesia technology integrates communication and perception, enabling simultaneous awareness of the surrounding environment during communication, thereby providing improved services. It is a key enabling technology for 6G. Given that synaesthesia can effectively determine the user's location, it can assist drone relay nodes in more quickly forming a beam directed toward the user, reducing beam search latency. Several studies have focused on drone relay nodes using synaesthesia technology. However, these studies have not yet found methods for synaesthesia drone relay nodes to form effective beams despite perception errors. Therefore, addressing the negative impact of synaesthesia technology's perception errors, which can prevent drones from accurately forming beams that maximize received power at the user's location, and improving relay forwarding performance, remains a challenge. Summary of the Invention

[0004] In response to the above problems, the present invention provides a method and system for relay forwarding based on a synesthesia-integrated drone, aiming to address the adverse effects of perception errors caused by synesthesia-integrated technology, enabling the drone to accurately form a beam with the maximum receiving power at the user, thereby improving the performance of relay forwarding.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for relaying based on a synaesthesia-integrated drone is provided, the method comprising:

[0006] The user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength meets the user's feedback request confirmation signal. The user selects the base station with the largest received power as the serving base station, completing the pairing between the user and the base station.

[0007] The serving base station forms a millimeter wave active beam directed toward the user. If the user can receive the millimeter wave signal that meets the receiving power requirement, the serving base station directly provides high-speed data service to the user. Otherwise, the serving base station launches a telepathic UAV to provide auxiliary communication.

[0008] The drone flies to an aerial position that can simultaneously ensure an unobstructed propagation path between the drone and the serving base station and the user. The drone's intelligent reflecting surface obtains the azimuth and pitch angles from the drone to the user based on perception. The drone's intelligent reflecting surface forms a millimeter wave passive beam directed at the user, adjusts the drone's aerial position until the millimeter wave passive beam signal received by the user meets the receiving power requirement, and records the azimuth and pitch angles from the drone to the user at this time.

[0009] The azimuth and pitch angles from the drone to the user when the user's received signal meets the received power requirement, as well as the correction angle obtained in the drone's last relay service to address perception errors, are used as the initial pointing direction of the millimeter wave passive beam. The pointing direction of the millimeter wave passive beam is adjusted using the drone's intelligent reflecting surface to obtain the azimuth and pitch angles at which the user receives the maximum power value of the millimeter wave passive beam signal;

[0010] The azimuth angle and pitch angle with the largest received power value by the user served by the drone in the previous several times are superimposed and the average value is taken to obtain the correction angle for dealing with the perception error of the drone next time.

[0011] In one embodiment, a user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength requirement feeds back a request confirmation signal to the user. The user selects the base station with the highest received power as the serving base station, completing pairing between the user and the base station. Specifically, the process includes:

[0012] The user broadcasts a high-speed data service request using a centimeter-wave frequency band signal. At least one base station that receives the service request evaluates the signal strength. When the signal strength exceeds a threshold, a request confirmation signal spread using orthogonal codewords is fed back to the user. After receiving at least one request confirmation signal, the user sorts the received power in descending order, selects the first base station as the service base station, and notifies the service base station.

[0013] In one embodiment, the use of the intelligent reflective surface of the drone to adjust the direction of the millimeter wave passive beam to obtain the azimuth and pitch angles at which the user receives the maximum power value of the millimeter wave passive beam signal specifically includes:

[0014] Based on the initial pointing direction of the millimeter wave passive beam, the UAV intelligent reflecting surface uses discrete azimuth and pitch angle changes to sequentially form a passive beam pointing to the user. The user records the time interval number with the largest increase in received power value and feeds the time interval number back to the UAV. The UAV intelligent reflecting surface determines the azimuth and pitch angle with the largest received power value of the user according to the time interval number, and forms a passive beam pointing to the user, thereby providing high-speed data services for the user.

[0015] In one embodiment, the intelligent reflective surface of the drone sequentially forms a passive beam directed toward the user using discrete azimuth and pitch angle changes, specifically including:

[0016] The azimuth and pitch angles from the UAV to the user when the user's received signal meets the received power requirement are recorded as (θ, φ), the power of the millimeter wave signal received by the user is P, the correction angle obtained by the UAV to deal with the perception error in the last relay service is (Δθ, Δφ), and the initial pointing direction of the millimeter wave passive beam is (θ+Δθ, φ+Δφ);

[0017] Set the azimuth angle change to m∈{-(M-1) / 2,…,-1,0,1,…,(M-1) / 2}, 0≤θ min ≤θ max ≤2π, set the pitch angle change to n∈{-(N-1) / 2,…,-1,0,1,…,(N-1) / 2}, 0≤φ min ≤φ max ≤π, where θ min ,θ max are the minimum and maximum values ​​set for the azimuth angle θ, φ min 、φ max are the minimum and maximum values ​​set for the pitch angle φ, respectively. N and M are both odd-numbered parameters. Based on the initial pointing direction (θ+Δθ, φ+Δφ), discrete azimuth and pitch angles are formed in sequence, i.e. The intelligent reflective surface of the drone sequentially forms a passive beam pointing to the user, and the time interval t0 of the passive beam adjustment is fixed, and the time taken for the passive beam adjustment stage is MNt0.

[0018] In one embodiment, the user records the time interval number at which the received power value increases the most, and feeds the time interval number back to the drone. The drone's intelligent reflective surface determines the azimuth and pitch angle at which the user's received power value has the largest value based on the time interval number, specifically including:

[0019] Obtain the value of n in natural order, and traverse m every time n is equal to a value. In the jth time interval, 1≤j≤MN, the millimeter wave signal power value received by the user is P j , if the increase is not less than L, that is The user records the sequence number j of the time interval, where L is the setting parameter. After the beam adjustment phase, the user feeds back a centimeter-wave signal to the drone. The centimeter-wave signal includes the sequence number j* of the time interval with the highest increase in received power value. The m and n corresponding to the time interval j* are obtained according to the order in which the discrete azimuth and elevation angles are formed, and are recorded as m* and n*, respectively. If there is no increase of not less than L, the sequence number j*=0 of the time interval with the highest increase in received power value in the centimeter-wave signal fed back by the user to the drone corresponds to m*=0 and n*=0. Based on the centimeter-wave signal fed back by the user, the drone obtains the azimuth and elevation angles (θ0, φ0) with the largest increase in received power value. The specific expressions are:

[0020]

[0021]

[0022] The intelligent reflective surface of the drone forms a passive beam toward (θ0, φ0), and the user receives the millimeter wave signal with the maximum power value.

[0023] According to a second aspect of an embodiment of the present disclosure, a system for relaying based on a synaesthesia-integrated drone is provided, the system comprising:

[0024] In the data service request module, a user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength meets the user's feedback request confirmation signal. The user selects the base station with the largest received power as the serving base station, completing the pairing between the user and the base station;

[0025] A data service test module, wherein the serving base station forms a millimeter wave active beam directed toward the user. If the user can receive a millimeter wave signal that meets the receiving power requirement, the serving base station directly provides high-speed data service to the user. Otherwise, the serving base station launches a telepathic UAV to provide auxiliary communication.

[0026] A passive beamforming module for a drone relay node, wherein the drone flies to an aerial position that simultaneously ensures an unobstructed propagation path between the drone and the serving base station and the user. The drone's intelligent reflecting surface obtains the azimuth and pitch angles from the drone to the user based on perception. The drone's intelligent reflecting surface forms a millimeter-wave passive beam directed at the user, adjusts the drone's aerial position until the millimeter-wave passive beam signal received by the user meets the receiving power requirement, and records the azimuth and pitch angles from the drone to the user at this time.

[0027] A beam adjustment module for dealing with perception errors, configured to use the azimuth and pitch angles from the drone to the user when the user's received signal meets the received power requirement, and the correction angle obtained for dealing with the perception error in the drone's last relay service as the initial pointing direction of the millimeter wave passive beam, and use the drone's intelligent reflecting surface to adjust the pointing direction of the millimeter wave passive beam to obtain the azimuth and pitch angles at which the power value of the millimeter wave passive beam signal received by the user is maximum;

[0028] The correction angle calculation module for dealing with perception errors is used to superimpose the azimuth angle and pitch angle with the largest received power value of the drone service user in the previous several times and take the average value to obtain the correction angle for dealing with the drone perception error next time.

[0029] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for relaying based on a synesthesia-integrated drone is implemented.

[0030] According to a fourth aspect of an embodiment of the present disclosure, a non-temporary computer-readable storage medium is provided, on which computer instructions are stored. When the instructions are executed by a processor, the above-mentioned method of relaying based on a synesthesia-integrated drone is implemented.

[0031] The technical solution provided by the disclosed embodiments can achieve the following beneficial effects: Using a synaesthesia-integrated drone as a relay node, passive beamforming technology using the drone's intelligent reflective surfaces, based on perceived information such as the user's location, forms a millimeter-wave beam directed toward the user. By adjusting the passive beam direction and combining it with the user's centimeter-wave feedback signal, the angle direction with maximum received power at the user is determined, and an angle correction is calculated to suppress the impact of synaesthesia-integrated perception errors and ensure millimeter-wave communication quality for the drone relay node.

[0032] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0034] Figure 1 1 is a flow chart of a method for relaying based on a synaesthesia-integrated drone in an embodiment of the present invention;

[0035] Figure 2 2 is a schematic diagram of a system structure for relaying based on a synaesthesia-integrated UAV in an embodiment of the present invention;

[0036] Figure 3 This is a diagram of the device architecture for relay forwarding based on the synaesthesia integrated drone in an embodiment of the present invention;

[0037] Figure 4 This is a topological diagram of the UAV relay system in an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of dynamic beam adjustment in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0040] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0041] It should be noted that the embodiments of the present invention are applicable to drones with integrated telepathy capabilities for relaying millimeter wave signals. Users need to be equipped with transceivers operating in two frequency bands: the centimeter wave band and the millimeter wave band. The centimeter wave band is used to transmit low-rate data and control signals, while the millimeter wave band is used for high-rate data transmission. Similarly, base stations also need to be equipped with transceivers operating in both the centimeter wave band and the millimeter wave band. Millimeter wave transceivers at base stations generally use arrays to form active beams in the millimeter wave band to address the destructive effects of severe path loss on millimeter wave signals. Millimeter wave transceivers at user locations do not have similar requirements. Drones need to be equipped with intelligent reflecting surfaces (IRS) operating in the millimeter wave band. These reflective surfaces can implement passive beamforming. The difference between active and passive beamforming is that active beamforming is actively formed by active devices, while passive beamforming is passively formed by passive devices. The mathematical principles underlying their formation can be the same. In addition, drones are equipped with transceivers capable of integrated telepathy. There needs to be an unobstructed transmission path between the user and the drone, and between the drone and the base station.

[0042] The embodiments of the present invention provide a method and system for relaying based on a synaesthesia-integrated drone, and provide the following embodiments:

[0043] This embodiment is used to illustrate a method for relaying based on a synaesthesia-integrated drone. The method flow chart of the embodiment is as follows: Figure 1 As shown, specifically including:

[0044] High-rate data service request: A user broadcasts a centimeter-wave signal. At least one base station that meets the received signal power strength requirements sends a confirmation signal to the user. The user selects the base station with the highest received power as the serving base station, completing the pairing between the user and the base station.

[0045] In specific implementations, a user broadcasts a high-rate data service request using a centimeter-wave frequency signal. The multiple / single base stations that receive this request evaluate the signal strength. When it exceeds a threshold ρ1, they send back a request confirmation signal spread using an orthogonal codeword, completing the handshake between the two. This threshold ρ1 needs to be set based on actual conditions to ensure the distance between the base station and the user is as small as possible, facilitating millimeter-wave signal transmission. Orthogonal codewords are used to prevent collisions between request confirmation signals sent by multiple base stations. Upon receiving the single / multiple request confirmation signals, the user sorts them in descending order of received power, selects the base station with the highest received power as its serving base station, and notifies the base station, completing the pairing process.

[0046] High-rate data service test: The serving base station forms an active millimeter-wave beam directed toward the user. If the user can receive a millimeter-wave signal that meets the received power requirement, the serving base station directly provides high-rate data service to the user. Otherwise, the serving base station launches a telepathic drone to provide auxiliary communication.

[0047] During implementation, after a user is paired with a base station, the base station and user activate their millimeter-wave transceivers. The base station then uses beam search methods, such as binary search, to form an active beam directed toward the user. If the user can obtain a sufficiently high-power millimeter-wave signal from the active beam, the base station directly uses the millimeter-wave beam directed toward the user to provide high-speed data services. However, if the user cannot obtain a sufficiently high-power millimeter-wave signal from the active beam, a telepathic drone relay node is required for auxiliary communication.

[0048] Passive beamforming of the drone relay node: The drone flies to a certain aerial position that can simultaneously ensure an unobstructed propagation path between the drone and the serving base station and the user. The drone's intelligent reflective surface obtains the azimuth and pitch angles from the drone to the user based on perception. The drone's intelligent reflective surface forms a millimeter wave passive beam directed at the user, adjusts the drone's aerial position until the millimeter wave passive beam signal received by the user meets the receiving power requirement, and records the azimuth and pitch angles from the drone to the user at this time.

[0049] During implementation, if the base station is unable to directly provide high-speed data services to users, the base station will launch a telepathic drone. Because the telepathic drone can perceive its surroundings, it can easily determine whether the transmission paths between the drone and the base station, or between the drone and the user, are obstructed. Therefore, the drone can select an aerial position where the transmission paths between the drone and the base station, or between the drone and the user, are unobstructed. It is worth noting that there is no single method for selecting an aerial position and that it needs to be designed based on actual needs. Furthermore, the aerial position itself is not unique. Once the drone hovers at a certain aerial position, telepathic technology can be used to determine the azimuth and elevation angles (θ, φ) from the drone to the user. Based on the sensed azimuth and elevation angles (θ, φ), the drone's smart reflective surface is adjusted to form a passive beam directed toward the user. Specifically, after the base station forms an active millimeter-wave beam directed toward the drone, this active beam is reflected by the smart reflective surface to form a passive millimeter-wave beam directed toward the user. When the received millimeter-wave signal power exceeds the threshold ρ2, the user notifies the base station and drone via a centimeter-wave signal. At this time, the drone will hover at this air position to provide relay service for high-speed data services between the base station and the user; otherwise, the drone will fly to another air position and repeat the above process until it finds an air position that can meet the receiving power requirements.

[0050] Beam fine-tuning to deal with perception errors: the azimuth and pitch angles from the drone to the user when the user's received signal meets the receiving power requirements, and the correction angle obtained in the drone's last relay service for dealing with perception errors are used as the initial pointing direction of the millimeter wave passive beam, and the drone's intelligent reflecting surface is used to adjust the direction of the millimeter wave passive beam to obtain the azimuth and pitch angles at which the user receives the maximum power value of the millimeter wave passive beam signal; the azimuth and pitch angles at which the user received the maximum power value served by the drone in the previous several times are superimposed and the average is taken to obtain the correction angle for dealing with the drone's perception error next time.

[0051] Furthermore, based on the initial pointing direction of the millimeter wave passive beam, the UAV intelligent reflecting surface uses discrete azimuth and pitch angle changes to sequentially form a passive beam pointing to the user. The user records the time interval number with the largest increase in the received power value, and feeds the time interval number back to the UAV. The UAV intelligent reflecting surface determines the azimuth and pitch angle with the largest received power value of the user according to the time interval number, and forms a passive beam pointing to the user, thereby providing high-speed data services for the user.

[0052] During the specific implementation process, when the drone hovers in an air position that meets the requirements, the intelligent reflective surface adjusts the direction of the passive beam to obtain the azimuth and pitch angles at which the millimeter wave signal power value received at the user is the maximum, as well as the correction angle to deal with perception errors. Specifically, the azimuth and pitch angles from the drone to the user when the user's received signal meets the received power requirements are recorded as (θ, φ). The power of the millimeter wave signal received by the user at this time is P. The correction angle obtained by the drone in the last relay service to deal with perception errors is (Δθ, Δφ). The initial pointing direction of the millimeter wave passive beam is (θ+Δθ, φ+Δφ). Based on this, it is divided into two stages: beam adjustment and correction angle calculation to deal with the impact of perception errors.

[0053] a) Beam adjustment stage: Consider the discrete azimuth and elevation angle changes, where the azimuth angle change is set to

[0054] m∈{-(M-1) / 2,…,-1,0,1,…,(M-1) / 2}, 0≤θ min ≤θ max ≤2π, the pitch

[0055] The angular variation is set to n∈{-(N-1) / 2,…,-1,0,1,…,(N-1) / 2}, 0≤φ min ≤φ max ≤π, where θ min ,θ max are the minimum and maximum values ​​set for the azimuth angle θ, φ min 、φ max are the minimum and maximum values ​​set for the pitch angle φ, N and M are both odd-numbered parameters, θ min ,θ max 、φ min 、φ max , odd N and odd M can be set according to the needs, and the initial pointing direction (θ+Δθ, φ+Δφ) is used as the reference to form discrete azimuth and elevation angles in sequence, that is, The intelligent reflective surface of the drone sequentially forms a passive beam directed to the user on its basis, and the time interval t0 of the passive beam adjustment is fixed, and the time taken for the passive beam adjustment stage is MNt0.

[0056] Furthermore, in a specific implementation, the drone's intelligent reflective surface sequentially forms passive beams directed toward the user. The sequence needs to be agreed upon in advance by the drone and the user and is designed according to criteria, specifically including:

[0057] Obtain the value of n in natural order, and traverse m every time n is equal to a value. In the jth time interval, 1≤j≤MN, the millimeter wave signal power value received by the user is P j , if the increase is not less than L, that is The user will record the serial number j of the time interval, where L is a setting parameter set according to needs. After the beam adjustment phase, the user feeds back a centimeter-wave signal to the drone. The centimeter-wave signal includes the time interval serial number j* with the highest increase in received power value. The m and n corresponding to the time interval serial number j* are obtained according to the formation order of the discrete azimuth and pitch angles, and are recorded as m* and n* respectively. If there is no increase of not less than L, the time interval serial number j* with the highest increase in received power value in the centimeter-wave signal fed back by the user to the drone is 0, corresponding to m*=0 and n*=0. Since the drone and the user are time-synchronized, the drone obtains the azimuth and pitch angles (θ0, φ0) with the largest increase in received power value based on the centimeter-wave signal fed back by the user. The specific expression is:

[0058]

[0059]

[0060] The intelligent reflective surface of the drone forms a passive beam toward (θ0, φ0), thereby ensuring that the user receives the millimeter wave signal with the maximum power value.

[0061] b) Correction angle calculation phase: In the first O relay services provided by the UAV, a pair of azimuth and pitch angles with the largest power increase are obtained each time, which are recorded as (θ1, φ1), (θ2, φ2), ..., (θ o ,φ o ), these azimuth and pitch angles are superimposed and averaged, and the average value is used as the angle correction value for the next perception error, that is,

[0062]

[0063] Another embodiment is used to illustrate a system for relaying based on a synaesthesia-integrated drone. Figure 2 As shown, the system 200 includes:

[0064] Data service request module 210: a user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength meets the user's feedback request confirmation signal. The user selects the base station with the highest received power as the serving base station, completing the pairing between the user and the base station;

[0065] In the data service test module 220, the serving base station forms a millimeter wave active beam directed toward the user. If the user can receive the millimeter wave signal that meets the receiving power requirement, the serving base station directly provides high-speed data service to the user. Otherwise, the serving base station launches a telepathic UAV to provide auxiliary communication.

[0066] The drone relay node passive beamforming module 230 flies the drone to a certain aerial position that can simultaneously ensure an unobstructed propagation path between the drone and the serving base station and the user. The drone's intelligent reflective surface obtains the azimuth and pitch angles from the drone to the user based on perception. The drone's intelligent reflective surface forms a millimeter wave passive beam directed at the user, adjusts the drone's aerial position until the millimeter wave passive beam signal received by the user meets the received power requirement, and records the azimuth and pitch angles from the drone to the user at this time.

[0067] The beam adjustment module 240 for coping with perception errors is configured to use the azimuth and pitch angles from the drone to the user when the user's received signal meets the received power requirement, and the correction angle obtained for coping with the perception error in the drone's last relay service as the initial pointing direction of the millimeter wave passive beam, and use the drone's intelligent reflecting surface to adjust the pointing direction of the millimeter wave passive beam to obtain the azimuth and pitch angles at which the power value of the millimeter wave passive beam signal received by the user is maximum;

[0068] The correction angle calculation module 250 for dealing with perception errors is used to superimpose the azimuth angle and pitch angle with the maximum received power value of the drone service user in the previous several times and then take the average value to obtain the correction angle for dealing with the drone perception error next time.

[0069] In addition to the upper module, the system 200 may also include other components. However, since these components are irrelevant to the content of the embodiment of the present disclosure, their illustration and description are omitted here.

[0070] The other specific working processes of the system 200 for relaying and forwarding based on a synesthesia-integrated UAV are described in the above-mentioned embodiment of the method for relaying and forwarding based on a synesthesia-integrated UAV, and are not repeated here.

[0071] Another embodiment is used to illustrate that the system of the present invention can also be used with the help of Figure 3 The architecture of the computing device shown is implemented. Figure 3 The architecture of the computing device is shown in FIG. Figure 3As shown, a computer system 310, a system bus 330, one or more CPUs 340, an input / output 320, a memory 350, etc. The memory 350 can store various data or files used for computer processing and / or communication, as well as program instructions executed by the CPU, including the method for relaying based on a synesthesia-integrated drone in an embodiment. Figure 3 The architecture shown is only exemplary and may be adjusted based on actual needs when implementing different devices. Figure 3 One or more components in. The memory 350, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the method for relaying and forwarding based on the synesthesia-integrated UAV in the embodiment of the present invention (for example, the data service request module 210, the data service test module 220, the UAV relay node passive beamforming module 230, the beam adjustment module 240 for responding to perception errors, and the correction angle calculation module 250 for responding to perception errors in the system 200 for relaying and forwarding based on the synesthesia-integrated UAV). One or more CPUs 440 execute various functional applications and data processing of the system of the present invention by running the software programs, instructions and modules stored in the memory 350, that is, to implement the above-mentioned method for relaying and forwarding based on the synesthesia-integrated UAV, which includes:

[0072] The user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength meets the user's feedback request confirmation signal. The user selects the base station with the largest received power as the serving base station, completing the pairing between the user and the base station.

[0073] The serving base station forms a millimeter wave active beam directed toward the user. If the user can receive the millimeter wave signal that meets the receiving power requirement, the serving base station directly provides high-speed data service to the user. Otherwise, the serving base station launches a telepathic UAV to provide auxiliary communication.

[0074] The drone flies to an aerial position that can simultaneously ensure an unobstructed propagation path between the drone and the serving base station and the user. The drone's intelligent reflecting surface obtains the azimuth and pitch angles from the drone to the user based on perception. The drone's intelligent reflecting surface forms a millimeter wave passive beam directed at the user, adjusts the drone's aerial position until the millimeter wave passive beam signal received by the user meets the receiving power requirement, and records the azimuth and pitch angles from the drone to the user at this time.

[0075] The azimuth and pitch angles from the drone to the user when the user's received signal meets the received power requirement, as well as the correction angle obtained in the drone's last relay service to address perception errors, are used as the initial pointing direction of the millimeter wave passive beam. The pointing direction of the millimeter wave passive beam is adjusted using the drone's intelligent reflecting surface to obtain the azimuth and pitch angles at which the user receives the maximum power value of the millimeter wave passive beam signal;

[0076] The azimuth angle and pitch angle with the largest received power value by the user served by the drone in the previous several times are superimposed and the average value is taken to obtain the correction angle for dealing with the perception error of the drone next time.

[0077] Of course, the processor of the server provided in the embodiment of the present invention is not limited to executing the method operations described above, and can also execute related operations in the relay forwarding method based on the synesthesia integrated drone provided in any embodiment of the present invention.

[0078] The memory 350 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal, etc. Furthermore, the memory 350 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 350 may further include memory remotely located relative to one or more CPUs 340, and these remote memories may be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0079] The input / output 320 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The input / output 320 may also include a display device such as a display screen.

[0080] Embodiments of the present invention also provide a non-transitory computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements the method for relaying based on a telepathic drone as described in the above embodiments. The computer-readable storage medium of the embodiments of the present invention may be any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0081] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0082] The program code contained on the storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0083] In addition, other specific working processes of a non-temporary computer-readable storage medium refer to the description of the above-mentioned embodiment of the relay forwarding method based on the synesthesia integrated drone, and will not be repeated here.

[0084] Specific examples

[0085] This example adjusts the passive beam formed by the intelligent reflective surface on the drone to obtain the azimuth and pitch angles with the maximum user received power. This angle correction is then calculated to address perception errors from telepathy technology and ensure the millimeter wave communication quality of the drone relay node.

[0086] like Figure 4As shown in the figure, there are two base stations around a single user, namely base station 1 and base station 2. Assume that there is no obstruction between base station 1 and the user, while there is obstruction between base station 2 and the user. Therefore, the signal power received by the user from base station 1 is greater than that from base station 2. There are three optional air positions for the drone taking off from base station 1, namely air position 3, air position 4 and air position 5. Assume that only air position 4 can meet the user's power requirement for receiving millimeter wave signals. The finite codebook for base station 1 to generate the active beam pointing to the user is set to

[0087]

[0088] Where a(x,y) is the normalized array steering vector, and x and y are the azimuth and pitch angles of the beam respectively. Assume that in the last relay service, the correction angles calculated by the drone are recorded as (Δθ, Δφ). Assume θ max =π,θ min =0, N = 3, M = 11, L = 0.1, O = 3. Set A = {-5, …, -1, 0, 1, …, 5}, Set B = {-1, 0, 1}. The active and passive beamforming vectors are the same, both chosen to be the normalized array steering vector a(x, y).

[0089] Figure 5 This is a schematic diagram of dynamic beam adjustment. Figure 4 、 Figure 5 Combined process Figure 1 , all steps of the specific implementation are as follows:

[0090] High-rate data service request: A user broadcasts a high-rate data service request using a centimeter-wave frequency signal. Base stations 1 and 2, receiving this request, evaluate the signal strength. Assuming the received signal power from both base stations 1 and 2 exceeds threshold ρ1, both base stations will send a request confirmation signal back to the user. To ensure that the request confirmation signals sent by base stations 1 and 2 do not collide, orthogonal Walsh codewords are used for spreading. For example, the request confirmation signal sent by base station 1 is spread using the second-order Walsh codeword [1, 1], while the request confirmation signal sent by base station 2 is spread using the second-order Walsh codeword [1, -1]. After receiving both request confirmation signals, the user despreads them using the second-order Walsh codeword to recover the request confirmation signals from base stations 1 and 2, respectively. Because the signal power received by the user from base station 1 is greater than that from base station 2, the user selects base station 1 as its serving base station and notifies base station 1, thus pairing the user with base station 1.

[0091] High-rate data service test: After the user is paired with base station 1, base station 1 and the user activate their millimeter-wave transceivers. Active beamforming is implemented using analog beamforming technology. The beamforming vector is derived from a fixed, finite codebook, A. Base station 1 uses the codewords in the codebook to sequentially form an active beam directed toward the user. Based on user feedback, the codeword with the highest user receive power is selected as the beamforming vector serving the user. Assume that after base station 1 uses the beamforming vector to form an active beam directed toward the user, the user is unable to obtain a sufficiently high-power millimeter-wave signal from the active beam. In this case, a telepathic drone relay node is required for auxiliary communication.

[0092] Passive beamforming for drone relay nodes: Unable to directly provide high-speed data services to users, base station 1 launches a telepathic drone. Three aerial locations are randomly selected, ensuring unobstructed transmission paths between the drone and the base station, as well as between the drone and the user: aerial locations 3, 4, and 5. This example uses aerial location 4. When the drone hovers at aerial location 4, telepathic technology can be used to determine the azimuth and elevation angles (θ, φ) from the drone to the user. Substituting the sensed azimuth and elevation angles (θ, φ) into the array steering vector a(x, y) yields a passive beamforming vector directed toward the user, which is then used to adjust the smart reflective surface. Since base station 1 knows aerial location 4, it can calculate the azimuth and elevation angles from base station 1 to the drone. Substituting these into the array steering vector a(x, y) yields an active beam directed toward the drone. Once base station 1 forms an active millimeter-wave beam directed toward the drone, it is reflected by the smart reflective surface to form a passive millimeter-wave beam directed toward the user. At this time, the millimeter wave signal power value received by the user exceeds the threshold ρ2, and the user informs the base station and drone through the centimeter wave signal.

[0093] Beam fine-tuning to address perception errors: After the drone hovers at position 4, the corrected angle (θ + Δθ, φ + Δφ) is used as the initial pointing direction of the passive beam. The power of the millimeter-wave signal received by the user at this point is recorded as P. Based on this, the system is divided into two stages: beam adjustment and angle correction calculation to address the impact of perception errors.

[0094] a) Beam adjustment stage: Consider the discrete azimuth and elevation angle changes, where the azimuth angle change is set to m∈A, the pitch angle change is set to n∈B. Taking the corrected angle (θ+Δθ, φ+Δφ) as the reference, the value of n is obtained in order from small to large. Whenever n is equal to a value, m is traversed to form discrete azimuth and elevation angles in turn, that is, On this basis, the array steering vector a(x,y) is introduced to sequentially form passive beamforming vectors pointing to different azimuth and elevation angles. Once the active beam hits the smart reflector, passive beams pointing to these azimuth and elevation angles can be sequentially formed. The entire beam adjustment phase takes 33t0. In the jth (1≤j≤33) time interval, the millimeter wave signal power value received by the user is P j , if the increase is not less than 0.1, that is (P j -P) / P≥0.1, the user will record the serial number of the time interval (i.e., j). After the beam adjustment phase is completed, the user feeds back a centimeter wave signal to the drone. The signal contains the serial number of the time interval with the highest increase in the received power value, i.e., j*. According to the formation order of the discrete azimuth and pitch angles, the corresponding m* and n* are: when rem(j* / M)≠0, m*=A(rem(j* / M)) and n*=B(quo(j* / M)+1); when rem(j* / M)=0, m*=A(M) and n*=B(quo(j* / M)). Among them, rem(.) is the operation symbol for finding the remainder, and quo(.) is the operation symbol for finding the quotient. For example, j*=30, then m*=A(8)=2 and n*=B(3)=1. Since the drone and the user are time-synchronized, based on the centimeter-wave signal fed back by the user, the drone can obtain the discrete azimuth and pitch angles with the largest increase in received power value, which is recorded as (θ0, φ0), that is, The drone forms a passive beam toward (θ0, φ0), thereby ensuring that the user receives the millimeter wave signal with the maximum power value.

[0095] b) Correction angle calculation stage: In the first three relay services of the drone, a pair of azimuth and pitch angles with the largest power increase will be obtained each time, which are recorded as (θ1, φ1), (θ2, φ2) and (θ3, φ3) respectively. These azimuth and pitch angles are superimposed and averaged, and the average value is used as the angle correction value for the next perception error, that is,

[0096] Combining the technical solutions provided by the aforementioned embodiments, a telepathic drone is used as a relay node. Based on perceived information, such as the user's location, passive beamforming technology using the drone's intelligent reflective surfaces forms a millimeter-wave beam directed toward the user. By adjusting the passive beam direction and combining it with the user's centimeter-wave feedback signal, the angle direction with maximum received power at the user is determined. This angle correction is then calculated to mitigate the impact of telepathic perception errors and ensure millimeter-wave communication quality for the drone relay node.

[0097] In this document, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a step or method that comprises a series of elements includes not only those elements, but also includes other elements not expressly listed, or also includes elements inherent to such step or method.

[0098] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A method for relaying based on a synaesthesia-integrated drone, characterized in that: The method comprises: The user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength meets the user's feedback request confirmation signal. The user selects the base station with the largest received power as the serving base station, completing the pairing between the user and the base station. The serving base station forms a millimeter wave active beam directed toward the user. If the user can receive the millimeter wave signal that meets the receiving power requirement, the serving base station directly provides high-speed data service to the user. Otherwise, the serving base station launches a telepathic UAV to provide auxiliary communication. The drone flies to an aerial position that can simultaneously ensure an unobstructed propagation path between the drone and the serving base station and the user. The drone's intelligent reflecting surface obtains the azimuth and pitch angles from the drone to the user based on perception. The drone's intelligent reflecting surface forms a millimeter wave passive beam directed at the user, adjusts the drone's aerial position until the millimeter wave passive beam signal received by the user meets the receiving power requirement, and records the azimuth and pitch angles from the drone to the user at this time. The azimuth and pitch angles from the drone to the user when the user's received signal meets the received power requirement, as well as the correction angle obtained in the drone's last relay service to address perception errors, are used as the initial pointing direction of the millimeter wave passive beam. The pointing direction of the millimeter wave passive beam is adjusted using the drone's intelligent reflecting surface to obtain the azimuth and pitch angles at which the user receives the maximum power value of the millimeter wave passive beam signal; The azimuth angle and pitch angle with the largest received power value by the user served by the drone in the previous several times are superimposed and the average value is taken to obtain the correction angle for dealing with the perception error of the drone next time.

2. The method for relaying based on the synesthesia integrated drone according to claim 1, characterized in that: The user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength requirement feeds back a request confirmation signal to the user. The user selects the base station with the highest received power as the serving base station, completing the pairing between the user and the base station. Specifically, the process includes: The user broadcasts a high-speed data service request using a centimeter-wave frequency band signal. At least one base station that receives the service request evaluates the signal strength. When the signal strength exceeds a threshold, a request confirmation signal spread using orthogonal codewords is fed back to the user. After receiving at least one request confirmation signal, the user sorts the received power in descending order, selects the first base station as the service base station, and notifies the service base station.

3. The method for relaying based on the synesthesia integrated drone according to claim 1, characterized in that: The method of adjusting the direction of the millimeter wave passive beam by using the intelligent reflective surface of the drone to obtain the azimuth and pitch angles at which the power value of the millimeter wave passive beam signal received by the user is maximum specifically includes: Based on the initial pointing direction of the millimeter wave passive beam, the UAV intelligent reflecting surface uses discrete azimuth and pitch angle changes to sequentially form a passive beam pointing to the user. The user records the time interval number with the largest increase in received power value and feeds the time interval number back to the UAV. The UAV intelligent reflecting surface determines the azimuth and pitch angle with the largest received power value of the user according to the time interval number, and forms a passive beam pointing to the user, thereby providing high-speed data services for the user.

4. The method for relaying based on the synesthesia integrated drone according to claim 3 is characterized in that: The intelligent reflective surface of the UAV sequentially forms a passive beam directed toward the user using discrete azimuth and pitch angle changes, specifically including: The azimuth and pitch angles from the UAV to the user when the user's received signal meets the received power requirement are recorded as (θ, φ), the power of the millimeter wave signal received by the user is P, the correction angle obtained by the UAV to deal with the perception error in the last relay service is (Δθ, Δφ), and the initial pointing direction of the millimeter wave passive beam is (θ+Δθ, φ+Δφ); Set the azimuth angle change to 0≤θ min ≤θ max ≤2π, set the pitch angle change to n∈{-(N-1) / 2,…,-1,0,1,…,(N-1) / 2}, 0≤φ min ≤φ max ≤π, where θ min ,θ max are the minimum and maximum values ​​set for the azimuth angle θ, φ min 、φ max are the minimum and maximum values ​​set for the pitch angle φ, respectively. N and M are both odd-numbered parameters. Based on the initial pointing direction (θ+Δθ, φ+Δφ), discrete azimuth and pitch angles are formed in sequence, i.e. The intelligent reflective surface of the drone sequentially forms a passive beam pointing to the user, and the time interval t0 of the passive beam adjustment is fixed, and the time taken for the passive beam adjustment stage is MNt0.

5. The method for relaying based on the synesthesia integrated drone according to claim 4 is characterized in that: The user records the time interval sequence number at which the received power value increases the most, and feeds the time interval sequence number back to the drone, and the drone intelligent reflective surface determines the azimuth and pitch angle of the user with the maximum received power value based on the time interval sequence number, specifically including: Obtain the value of n in natural order, and traverse m every time n is equal to a value. In the jth time interval, 1≤j≤MN, the millimeter wave signal power value received by the user is P j , if the increase is not less than L, that is The user records the sequence number j of the time interval, where L is the setting parameter. After the beam adjustment phase, the user feeds back a centimeter-wave signal to the drone. The centimeter-wave signal includes the sequence number j* of the time interval with the highest increase in received power value. The m and n corresponding to the time interval j* are obtained according to the order in which the discrete azimuth and elevation angles are formed, and are recorded as m* and n*, respectively. If there is no increase of not less than L, the sequence number j*=0 of the time interval with the highest increase in received power value in the centimeter-wave signal fed back by the user to the drone corresponds to m*=0 and n*=0. Based on the centimeter-wave signal fed back by the user, the drone obtains the azimuth and elevation angles (θ0, φ0) with the largest increase in received power value. The specific expressions are: The intelligent reflective surface of the drone forms a passive beam toward (θ0, φ0), and the user receives the millimeter wave signal with the maximum power value.

6. A system for relaying based on a synaesthesia-integrated drone, characterized in that: The system comprises: In the data service request module, a user broadcasts a centimeter wave signal, and at least one base station that meets the received signal power strength meets the user's feedback request confirmation signal. The user selects the base station with the largest received power as the serving base station, completing the pairing between the user and the base station; A data service test module, wherein the serving base station forms a millimeter wave active beam directed toward the user. If the user can receive a millimeter wave signal that meets the receiving power requirement, the serving base station directly provides high-speed data service to the user. Otherwise, the serving base station launches a telepathic UAV to provide auxiliary communication. A passive beamforming module for a drone relay node, wherein the drone flies to an aerial position that simultaneously ensures an unobstructed propagation path between the drone and the serving base station and the user. The drone's intelligent reflecting surface obtains the azimuth and pitch angles from the drone to the user based on perception. The drone's intelligent reflecting surface forms a millimeter-wave passive beam directed at the user, adjusts the drone's aerial position until the millimeter-wave passive beam signal received by the user meets the receiving power requirement, and records the azimuth and pitch angles from the drone to the user at this time. A beam adjustment module for dealing with perception errors, configured to use the azimuth and pitch angles from the drone to the user when the user's received signal meets the received power requirement, and the correction angle obtained for dealing with the perception error in the drone's last relay service as the initial pointing direction of the millimeter wave passive beam, and use the drone's intelligent reflecting surface to adjust the pointing direction of the millimeter wave passive beam to obtain the azimuth and pitch angles at which the power value of the millimeter wave passive beam signal received by the user is maximum; The correction angle calculation module for dealing with perception errors is used to superimpose the azimuth angle and pitch angle with the largest received power value of the drone service user in the previous several times and take the average value to obtain the correction angle for dealing with the drone perception error next time.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for relaying based on a synesthesia-integrated drone as described in any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by the processor, the method for relaying based on the synesthesia integrated drone as described in any one of claims 1 to 5 is implemented.

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