A UAV-V non-stationary channel modeling method based on regular geometry

Abstract

The present invention provides a UAV-V non-stationary channel modeling method based on regular geometry. The present invention uses a cylindrical model to characterize the distribution of UAV side scatterers, a single sphere model to characterize the distribution of mobile vehicle side scatterers, a semi-ellipsoid model to simulate the urban street environment, and a bottom concentric circle model to simulate the ground primary reflection distribution. According to the M2M channel characteristics, the channel model consists of line-of-sight and non-line-of-sight LoS components, wherein the non-line-of-sight LoS component consists of primary scattering, secondary scattering, and ground primary reflection components. While considering the movement of the transceiver, the movement of the scatterer relative to the transceiver is also considered, and the channel model is optimized. Important statistical characteristics are derived and studied, including spatiotemporal correlation functions and Doppler power spectral density expressions. The model is effective and more in line with the environment of urban streets, further enriching the UAV-assisted vehicle-mounted channel model library.

Description

Technical Field

[0001] The invention belongs to the field of channel modeling, and in particular relates to a UAV-V non-stationary channel modeling method based on regular geometry. Background Art

[0002] In recent years, Unmanned Aerial Vehicle (UAV) has attracted extensive attention due to its potential in many applications. Unlike traditional vehicle to vehicle (V2V) communication, UAVs contain both horizontal and vertical domains in three-dimensional space, and the flight altitude is relatively low, so scattering components such as buildings and roadside obstacles need to be considered. Due to the mobility of aerial base stations and ground operators, there are significant temporal and spatial variations in non-stationary channels. Severe non-stationarity can cause a large number of coverage and connection problems. Therefore, traditional channel models cannot be directly applied to UAV communication scenarios. In order to design and evaluate UAV communication systems and ensure the security and high reliability of communications, it is essential to establish a channel model that can accurately capture the characteristics of UAV communication.

[0003] At present, many studies have been conducted on UAV measurement and UAV channel modeling for UAV channel characterization. UAV channel models can be divided into deterministic models and stochastic models, the latter of which can be divided into nongeometrical stochastic models (NGSM) and geometry-based stochastic models (GBSM). Compared with deterministic models, stochastic models have higher versatility and lower complexity, while having acceptable accuracy. The NGSM widely used in UAV channels is a purely statistical model whose channel amplitude is a random process. This model is useful for UAV system design but not accurate enough. The method adopted by GBSM is to directly assume the distribution of scatterers to model the channel, which can effectively reduce the complexity of the channel modeling process. For ground vehicle-to-vehicle (V2V) communication, the GBSM method has been widely used for channel modeling. Similar to vehicle-to-vehicle communication, UAV communication exhibits rapidly changing and complex time-varying propagation characteristics. Therefore, in recent years, the research on UAV channel modeling using GBSM has gradually increased.

[0004] A study proposed a 3D elliptical cylinder MIMO channel model for drone communication, and the space-time cross-correlation function is affected by the mobility of the drone. This model assumes that there are no scatterers around the drone, that is, the communication scenario of the drone at high altitude. In the urban street scenario, commercial drones usually stay at a lower altitude to provide reliable communication. Therefore, the influence of the drone altitude and the scatterers around the drone needs to be considered when modeling the channel. A study used a double cylinder model to model drone-vehicle communication, which simulated the scene around the drone well, but the cylinder model cannot simulate the changes in the size, height and horizontal distance of the mobile scatterers in the actual scene, so the vehicle environment is more suitable for spherical model simulation. Moreover, it is assumed that the channel is wide-sense stationary, that is, the statistical characteristics of the channel do not change with time, which is inconsistent with the actual situation. In a scattering component, a study used concentric ellipses to simulate the distribution of scatterers with the transceiver as the ellipse focus. However, the concentric ellipse model ignores the complex multipath propagation and scattering phenomena in the real environment of urban scenes. The urban surrounding environment usually contains many tall buildings, structures and other terrain features, which have complex effects on signal propagation. Therefore, the semi-ellipsoid model can better capture these complex signal reflection and scattering phenomena and is closer to the real environment. Summary of the invention

[0005] Purpose of the invention: The technical problem to be solved by the present invention is to provide a UAV-V (Unmanned Aerial Vehicle to Vehicle, UAV-V) non-stationary channel modeling method based on regular geometry, mainly for urban street scenes. It is based on a random non-stationary UAV-V channel model of semi-ellipsoid-cylinder-single sphere geometry, and also uses a bottom concentric circle model to simulate the ground primary reflection distribution. From this model, important statistical characteristics are derived and studied, including space time correlation function (SACF) and Doppler power spectral density (DPSD). While considering the movement of the transceiver, the movement of the scatterer relative to the transceiver is also considered, the channel model is optimized, and the influence of the unique UAV-related parameters (such as the movement direction of the UAV, the antenna pitch angle, etc.) on the channel characteristics in a three-dimensional environment is studied.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention discloses a UAV-V non-stationary channel modeling method based on regular geometry, comprising the following steps:

[0008] Step 1: For urban street scenes, a new type of geometry-based random model is proposed. Matlab simulation is used to establish a three-dimensional semi-ellipsoid-cylinder-single-sphere composite geometric model of the non-stationary channel from drone to vehicle. The cylindrical model is used to characterize the distribution of scatterers on the Tx side of the drone and the mobile transmitter, and the single-sphere model is used to characterize the distribution of scatterers on the Rx side of the mobile vehicle and the mobile receiver. The semi-ellipsoid model is used to simulate the urban street environment, and the bottom concentric circle model is used to simulate the distribution of the ground primary reflection.

[0009] Step 2: Establish a channel model based on the characteristics of the mobile-to-mobile (M2M) channel, and calculate the impulse channel response, including the line of sight (LoS) component and the non line of sight (NLoS) component;

[0010] Step 3, based on the geometric random model, derive the expressions of the geometric model space-time cross-correlation function and Doppler power spectrum density, and establish a UAV-V non-stationary channel model based on regular geometry.

[0011] Step 2 includes: for a multiple input multiple output MIMO (Multiple Input Multiple Output, MIMO) channel, calculating an impulse channel response, that is, a channel relationship between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx, where p=1, 2, ..., M T , q = 1, 2, ..., M R ; where M T Indicates the total number of Tx antennas at the mobile transmitter, M R Indicates the total number of Rx antennas at the mobile receiving end;

[0012] The pulse channel response includes a line-of-sight LoS component and a non-line-of-sight NLoS component, wherein the non-line-of-sight NLoS component is divided into a single bounced SB (SB) component, a double bounced (DB) component and a ground reflection SBG (SB rays from the groundreflection, SBG) component according to the process experienced by the signal from the mobile transmitting end Tx to the mobile receiving end Rx, specifically, an SB1 ray component passing through a scatterer on a cylindrical model of the mobile transmitting end Tx, an SB2 ray component passing through a scatterer on a single spherical model of the mobile receiving end Rx, an SB3 ray component passing through a scatterer on a semi-ellipsoidal model, and a DB1 ray component passing through a scatterer on the cylindrical model of the mobile transmitting end Tx and a scatterer on the single spherical model of the mobile receiving end Rx, respectively, a DB2 ray component passing through a scatterer on the cylindrical model of the mobile transmitting end Tx and a scatterer on the semi-ellipsoidal model, respectively, a DB2 ray component passing through a scatterer on the single spherical model of the mobile receiving end Rx and a scatterer on the semi-ellipsoidal model, and an SBG ray component reflected by the ground;

[0013] The complex channel impulse response (CIR) between the pth mobile transmitter Tx antenna unit and the qth mobile receiver Rx antenna unit of a multiple-input multiple-output MIMO channel It is expressed as:

[0014]

[0015] in, is the line-of-sight LoS component at time t, is the single bullet weight at time t, is the double elastic component at time t, It is the first reflection component of the ground at time t.

[0016] Step 2 also includes: the line-of-sight LoS component The specific expression is:

[0017]

[0018] Where K refers to the Rice factor, refers to the carrier wavelength, Refers to the distance between the pth mobile transmitter Tx antenna unit and the qth mobile receiver Rx antenna unit, , They are the maximum Doppler frequency caused by the mobile transmitter passing through the static scatterer and the maximum Doppler frequency of the mobile receiver Rx, , are the azimuth and elevation angles of the line of sight of the mobile transmitter, , are the azimuth and elevation angles of the line-of-sight path at the receiving end, respectively. △t represents the time delay, and its physical meaning is the time difference experienced by the signal during the propagation process; Indicates the moving azimuth of the mobile transmitter Tx, Indicates the moving pitch angle of the mobile transmitter Tx, represents the moving azimuth of the mobile receiving end Rx, e is a natural constant, and j is an imaginary unit;

[0019] parameter is the distance between the pth antenna element and the center of the UAV antenna array, parameter is the distance between the centers of the qth GS antenna arrays. For a uniform array, it is defined as:

[0020] ,

[0021] ,

[0022] in , are the antenna array spacing of the mobile transmitting end Tx and the antenna array spacing of the mobile receiving end Rx respectively;

[0023] The mobile transmitter Tx and the mobile receiver Rx use uniform linear antenna arrays and are equipped with M T and M R Root antenna, O T and O R They represent the center of the Tx antenna array of the mobile transmitter and the center of the Rx antenna array of the mobile receiver, respectively. It is assumed that N 1 dynamic scatterers, among which the nth 1 The scatterer is denoted as S n1 , N is distributed on the single sphere model 2 dynamic scatterers, among which the nth 2 The scatterer is denoted as S n2 , where n 1 = 1, 2, ..., N 1 ;n 2 = 1, 2, ..., N 2 ;

[0024] N is distributed on the semi-ellipsoidal model 3 stationary scatterers, of which the nth 3 The scatterer is denoted as S n3 , and N are distributed on the circular model representing ground reflection 4 dynamic scatterers, among which the nth 4 The scatterer is denoted as S n4 , where n 3= 1, 2, ..., N 3 ;n 4 = 1, 2, ..., N 4 ;

[0025] Respectively by and Indicates that the scatterer Sn i The departure azimuth angle of departure AAoD (AAoD) and the departure elevation angle EAoD (EAoD) of the ray are respectively expressed as and Indicates the corresponding azimuth angle of arrival AAoA (Azimuth angle of arrival, AAoA) and elevation angle of arrival EAoA (Elevation angle of arrival, EAoA); i=1, 2, 3, 4;

[0026] For single-bullet component , the expression is:

[0027] ,

[0028] in Refers to the power of each single bomb component, Refers to the scatterer Sn i The path sum of the single-bullet paths, Indicates the time t scatterers, indicates that the number of scatterers tends to infinity, , are respectively the maximum Doppler frequency caused by the mobile transmitting end Tx passing through the dynamic scatterer and the maximum Doppler frequency of the mobile receiving end Rx, and the sum of the paths includes three: the SB1 ray passing through the scatterer on the cylindrical model of the mobile transmitting end Tx, the SB2 ray passing through the scatterer on the single sphere model of the mobile receiving end Rx, and the SB3 ray passing through the scatterer on the semi-ellipsoidal model;

[0029] , are the azimuth and elevation angles from the mobile transmitter to the scattering point, , are the azimuth and elevation angles from the mobile receiving end to the scattering point, respectively;

[0030] For the double-bounce component, there are three double-bounce paths, namely: DB1 rays passing through the scatterers on the mobile transmitter Tx cylindrical model and the scatterers on the mobile receiver Rx single sphere model , DB2 rays passing through the scatterers on the mobile transmitter Tx cylindrical model and the semi-ellipsoidal model respectively , DB2 rays passing through the scatterers on the single sphere model and the semi-ellipsoid model of the mobile receiving end Rx , their respective expressions are:

[0031] ,

[0032] ,

[0033] ,

[0034] in represents the energy-related parameter of the DB1 ray component, represents the energy-related parameter of the DB2 component, represents the energy-related parameter of the DB3 component, Represents the scatterer Sn 1 With scatterer Sn 2 The distance between Indicates that the scatterer Sn 1 The departure azimuth of the ray, Indicates that the scatterer Sn 1 The departure pitch angle of the ray, Indicates that the scatterer Sn 2 The ray's arrival angle, Indicates that the scatterer Sn 2 The ray's arrival pitch angle; Represents the scatterer Sn 1 With scatterer Sn 3 The distance between Indicates that the scatterer Sn 3 The ray's arrival angle, Indicates that the scatterer Sn 3 The ray's arrival pitch angle; Represents the scatterer Sn 1 With scatterer Sn 3 The distance between Indicates that the scatterer Sn 3 The departure azimuth of the ray, Through the scatterer Sn 3 The departure pitch angle of the ray;

[0035] For the ground first reflection component , the expression is:

[0036] ,

[0037] in represents the energy-related parameters representing the SBG ray components, Indicates that the scatterer Sn 4 The sum of the paths, Indicates that the scatterer Sn 4 The departure azimuth of the ray, Through the scatterer Sn 4 The departure pitch angle of the ray, Indicates that the scatterer Sn 4 The ray's arrival angle, Indicates that the scatterer Sn 4 The arrival pitch angle of the ray.

[0038] Step 2 also includes: Due to the presence of mobile scatterers, the corresponding maximum Doppler shift will also change, , The calculation formula is:

[0039] ,

[0040] ,

[0041] in Indicates the moving speed of the mobile transmitter Tx, Indicates the moving azimuth of the mobile transmitter Tx, represents the moving speed of the scatterer;

[0042] Indicates the moving speed of the mobile receiving end Rx, Indicates the moving azimuth of the mobile receiving end Rx.

[0043] Step 2 also includes: converting the discrete variable forms of the azimuth angle AoD, the pitch angle AoA, and the radius R of the ground first reflection model circle into continuous variables, and setting the azimuth angle AoD, the pitch angle AoA, and the radius R of the ground first reflection model circle to be independent; using the von Mises distribution to describe the scattering body Sn i The departure angle of the ray and arrival azimuth The distribution of is defined as:

[0044] ,

[0045] in, Indicates that the scatterer Sn i The departure angle of the ray The probability density function PDF of Departure azimuth The mean of is a real-valued parameter controlling the distribution of concentration in azimuth relative to the mean, ≥0, The smaller it is, the closer the scatterer distribution is to a uniform distribution. The larger it is, the closer it is to the standard normal distribution. represents the modified Bessel function of the first kind of order 0;

[0046] ,

[0047] in, Indicates that the scatterer Sn i The ray's arrival angle The probability density function PDF of Indicates the arrival azimuth The mean of

[0048] For the probability density function PDF of the pitch angle, the cosine distribution commonly used in the vehicle to vehicle (V2V) scenario is used to describe the distribution of the pitch angle. The specific expression is:

[0049] ,

[0050] in Indicates that the scatterer Sn i The ray's departure pitch angle, Indicates that the scatterer Sn i The departure pitch angle of the ray The distribution function of Indicates departure pitch angle The mean of Indicates departure pitch angle The maximum deviation from the mean;

[0051] ,

[0052] in Indicates that the scatterer Sn i The ray's arrival pitch angle, Indicates that the scatterer Sn i The ray's arrival pitch angle The distribution function of Indicates the arrival pitch angle The mean of Indicates the arrival pitch angle The maximum deviation from the mean;

[0053] The probability density function of the radius R of the scatterer distribution position that characterizes the ground reflection for:

[0054] ,

[0055] in Indicates the radius of the sphere model surrounding the mobile receiver Rx.

[0056] Step 3 includes: spatial and temporal cross-correlation can be used to analyze or simulate the impact of V2V wireless channels on vehicle communication performance. The corresponding space-time cross-correlation function (STCF) is usually a multi-dimensional function in a MIMO system, which has multiple transmitting antennas and multiple receiving antennas, and reflects the space-time correlation between multiple antennas. The space-time cross-correlation function is expressed as:

[0057] ,

[0058] in, represents the space-time cross-correlation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx, represents the line-of-sight LoS component of the space-time cross-correlation function, represents the single-shot component of the space-time cross-correlation function, represents the double elastic component of the space-time cross-correlation function, represents the ground primary reflection component of the space-time cross-correlation function, They represent the antenna array spacing of the mobile transmitting end Tx and the antenna array spacing of the mobile receiving end Rx respectively;

[0059] By setting The spatial cross-correlation function CCF (spatial CCF) is obtained, which is expressed as:

[0060] ,

[0061] in represents the spatial cross-correlation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx, represents the line-of-sight LoS component of the spatial cross-correlation function, represents the single-elastic component of the spatial cross-correlation function, represents the double elastic component of the spatial cross-correlation function, Represents the ground primary reflection component of the spatial cross-correlation function;

[0062] By setting , that is, the same antenna unit is used at the mobile transmitter Tx and the mobile receiver Rx, and the temporal autocorrelation function ACF (temporal ACF) is obtained to measure the temporal correlation of the channel, which is expressed as:

[0063] ,

[0064] in represents the time autocorrelation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx, represents the LoS component of the temporal autocorrelation function, represents the single-bounce component of the time autocorrelation function, represents the double elastic component of the time autocorrelation function, Represents the ground primary reflection component of the time autocorrelation function;

[0065] Among them, for the line-of-sight LoS component, the specific expression is:

[0066] ,

[0067] in The time autocorrelation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx represents the line-of-sight LoS component, represents the distance between the p'th antenna of the mobile transmitter Tx and the q'th antenna of the mobile receiver Rx, represents the distance between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx;

[0068] For the SB1 ray component passing through the scatterer on the mobile transmitter Tx cylindrical model, the SB2 ray component passing through the scatterer on the mobile receiver Rx cylindrical model, and the SB3 ray component passing through the scatterer on the semi-ellipsoid model in the single-bomb channel, the specific expressions are:

[0069] ,

[0070] in The time autocorrelation function SB1 ray component representing the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx through the scatterer on the cylindrical model of the mobile transmitting end Tx, represents the energy-related parameter of the SB1 ray component, Indicates that the scatterer Sn 1 The minimum value of the ray's departure pitch angle, Indicates that the scatterer Sn 1 The maximum value of the ray's departure pitch angle, Represents the pth antenna of the mobile transmitter Tx and the scatterer Sn 1 The distance Represents the p'th antenna of the mobile transmitter Tx and the scatterer Sn 1 The distance Represents the qth antenna of the mobile receiving end Rx and the scatterer Sn 1 The distance Represents the q'th antenna of the mobile receiving end Rx and the scatterer Sn 1 The distance Indicates that the mobile transmitter Tx passes through the scatterer Sn 1 The maximum Doppler frequency resulting from this Indicates that the mobile receiving end Rx passes through the scatterer Sn 1 The maximum Doppler frequency resulting from this Indicates that the scatterer Sn 1 The departure azimuth of the ray, Indicates that the scatterer Sn 1 The ray's departure pitch angle, Indicates that the scatterer Sn 1 The ray's arrival angle, Indicates that the scatterer Sn 1 The ray's arrival pitch angle, express The probability density function of express The probability density function of ; d is the differential symbol;

[0071] For the SB2 ray component passing through the scatterer on the single sphere model of the mobile receiving end Rx in the single-ball channel, the specific expression is:

[0072] ,

[0073] in The SB2 ray component representing the time autocorrelation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx through the scatterer on the single sphere model of the mobile receiving end Rx, represents the energy-related parameter of the SB2 ray component, Indicates that the scatterer Sn 2 The minimum value of the ray's arrival pitch angle, Indicates that the scatterer Sn 2 The maximum value of the ray's arrival pitch angle, Represents the pth antenna of the mobile transmitter Tx and the scatterer Sn 2 The distance Represents the p'th antenna of the mobile transmitter Tx and the scatterer Sn 2 The distance Represents the qth antenna of the mobile receiving end Rx and the scatterer Sn 2 The distance Represents the q'th antenna of the mobile receiving end Rx and the scatterer Sn 2 The distance Indicates that the mobile transmitter Tx passes through the scatterer Sn 2 The maximum Doppler frequency resulting from this Indicates that the mobile receiving end Rx passes through the scatterer Sn 2 The maximum Doppler frequency resulting from this Indicates that the scatterer Sn 2 The departure azimuth of the ray, Indicates that the scatterer Sn 2 The departure pitch angle of the ray, Indicates that the scatterer Sn 2 The ray's arrival angle, Indicates that the scatterer Sn 2 The ray's arrival pitch angle, express The probability density function of express The probability density function of

[0074] For the SB3 ray component passing through the scatterer on the semi-ellipsoid model, the specific expression is:

[0075] ,

[0076] in It is represented by the time autocorrelation function SB3 ray component of the channel between the pth antenna of the mobile transmitting end Tx and the qth antenna of the mobile receiving end Rx and the channel between the p'th antenna of the mobile transmitting end Tx and the q'th antenna of the mobile receiving end Rx through the scatterer on the semi-ellipsoid model, represents the energy-related parameter of the SB3 ray component, Indicates that the scatterer Sn 3 The minimum value of the ray's arrival pitch angle, Indicates that the scatterer Sn 3 The maximum value of the ray's arrival pitch angle, Represents the pth antenna of the mobile transmitter Tx and the scatterer Sn 3The distance Represents the p'th antenna of the mobile transmitter Tx and the scatterer Sn 3 The distance Represents the qth antenna of the mobile receiving end Rx and the scatterer Sn 3 The distance Represents the q'th antenna of the mobile receiving end Rx and the scatterer Sn 3 The distance Indicates that the mobile transmitter Tx passes through the scatterer Sn 3 The maximum Doppler frequency resulting from this Indicates that the mobile receiving end Rx passes through the scatterer Sn 3 The maximum Doppler frequency resulting from this Indicates that the scatterer Sn 3 The departure azimuth of the ray, Indicates that the scatterer Sn 3 The ray's departure pitch angle, Indicates that the scatterer Sn 3 The ray's arrival angle, Indicates that the scatterer Sn 3 The ray's arrival pitch angle, express The probability density function of express The probability density function of

[0077] For the SBG ray component reflected by the ground, the specific expression is:

[0078] ,

[0079] in, It is represented by the time autocorrelation function SBG ray component of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx after ground reflection, represents the energy-related parameter of the SBG ray component, Represents the pth antenna of the mobile transmitter Tx and the scatterer Sn 4 The distance Represents the p'th antenna of the mobile transmitter Tx and the scatterer Sn 4 The distance Represents the qth antenna of the mobile receiving end Rx and the scatterer Sn 4 The distance Represents the q'th antenna of the mobile receiving end Rx and the scatterer Sn 4 The distance Indicates that the mobile transmitter Tx passes through the scatterer Sn 4 The maximum Doppler frequency resulting from this Indicates that the mobile receiving end Rx passes through the scatterer Sn 4 The maximum Doppler frequency resulting from this Indicates that the scatterer Sn 4 The departure azimuth of the ray, Indicates that the scatterer Sn 4 The departure pitch angle of the ray, Indicates that the scatterer Sn 4 The ray's arrival angle, It represents the height difference between the mobile transmitter Tx and the mobile receiver Rx. express The probability density function of

[0080] For the DB1 ray component passing through the scatterer on the mobile transmitter Tx cylindrical model and the scatterer on the mobile receiver Rx cylindrical model in the double-bomb channel, the specific expression is:

[0081] ,

[0082] in, The channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx are represented by the time autocorrelation function DB1 ray component passing through the scatterer on the cylindrical model of the mobile transmitting end Tx and the scatterer on the cylindrical model of the mobile receiving end Rx, Indicates that the scatterer Sn 1 The minimum value of the ray's departure pitch angle, Indicates that the scatterer Sn 1 The maximum value of the ray's departure pitch angle, Indicates that the scatterer Sn 2 The minimum value of the ray's arrival pitch angle, Indicates that the scatterer Sn 2 The maximum value of the ray's arrival pitch angle, Indicates that the antenna passes through the scatterer Sn 1 With scatterer Sn 2 The distance between Indicates the maximum Doppler frequency caused by the mobile transmitter Tx passing through the scatterer. Indicates the maximum Doppler frequency caused by the mobile receiving end Rx passing through the scatterer;

[0083] For the DB2 ray components passing through the scatterers on the Tx cylindrical model of the mobile transmitter and the scatterers on the semi-ellipsoidal model in the double-bomb channel, the specific expressions are:

[0084] ,

[0085] in, The DB2 ray component of the time autocorrelation function representing the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx passes through the scatterer on the cylindrical model of the mobile transmitting end Tx and the scatterer on the semi-ellipsoidal model, Indicates that the scatterer Sn 1 The minimum value of the ray's departure pitch angle, Indicates that the scatterer Sn 1 The maximum value of the ray's departure pitch angle, Indicates that the scatterer Sn 3 The minimum value of the ray's arrival pitch angle, Indicates that the scatterer Sn 3 The maximum value of the ray's arrival pitch angle, Indicates that the antenna passes through the scatterer Sn 1 With scatterer Sn 3 The distance between

[0086] For the DB3 ray components passing through the scatterers on the cylindrical model of the mobile receiving end Rx and the scatterers on the semi-ellipsoidal model in the double-bomb channel, the specific expressions are:

[0087] ,

[0088] in, It is represented as the time autocorrelation function DB3 ray component of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx through the scatterer on the cylindrical model of the mobile receiving end Rx and the scatterer on the semi-ellipsoidal model, Indicates that the scatterer Sn 3 The minimum value of the ray's arrival pitch angle, Indicates that the scatterer Sn 3 The maximum value of the ray's arrival pitch angle, Indicates that the scatterer Sn 2 The minimum value of the ray's arrival pitch angle, Indicates that the scatterer Sn 2 The maximum value of the ray's arrival pitch angle, Indicates that the antenna passes through the scatterer Sn 2 With scatterer Sn 3 The distance between

[0089] The energy parameters must satisfy the following formula:

[0090] .

[0091] Step 3 also includes: the Doppler power spectrum density expression is:

[0092] ,

[0093] in, represents the Doppler power spectral density of the channel between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx, Represents the time autocorrelation function of the channel between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx.

[0094] The method of the present invention can be used in non-stationary UAV-to-vehicle communication scenarios.

[0095] The present invention also provides an electronic device, comprising a processor and a memory, wherein the memory stores program code, and when the program code is executed by the processor, the processor executes the steps of the described method.

[0096] The present invention also provides a storage medium storing a computer program or instruction. When the computer program or instruction is run on a computer, the steps of the method described are executed.

[0097] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention proposes a new type of geometric-based random model for urban street scenes. First, a three-dimensional semi-ellipsoid-cylinder-single-sphere composite geometric model of the non-stationary channel from drone to vehicle is established. The model uses a semi-ellipsoid model to simulate many high-rise buildings, low buildings and trees in the urban street environment, which will have a complex impact on signal propagation. Therefore, the semi-ellipsoid model can better capture these complex signal reflection and scattering phenomena and is closer to the real environment. The model uses a cylindrical model to characterize the distribution of drone side scatterers and a single-sphere model to characterize the distribution of mobile vehicle side scatterers, because the size and height of the vehicle side scatterers in the actual scene will change, and the single-sphere model is more suitable. The model combines LoS components, single-bomb and double-bomb components to describe the distribution of multipath components around the transceiver. From the model, the present application derives and studies important statistical characteristics, including spatiotemporal correlation function and Doppler power spectral density. While considering the movement of the transceiver, the movement of the scatterer relative to the transceiver is also considered, the channel model is optimized, and correlation analysis can be performed. This model is universal and adaptable in urban street environments, further enriching the channel model library of UAV-assisted vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Figure 1 It is a non-stationary channel model for UAV-to-vehicle based on regular geometry.

[0099] Figure 2 A schematic diagram of the influence of different UAV antenna elevation angles on the spatial correlation function of a single bullet ray component provided in an embodiment of the present invention.

[0100] Figure 3 A schematic diagram of the influence of different states of the transceiver on the time correlation function of a single bullet ray component provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0101] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0102] The UAV-V model targeted by this embodiment is as follows Figure 1 As shown in the figure. In order to generalize the proposed channel model, all possible channel components are included in the model, including the LoS component, the SB and DB scattering components generated by stationary scatterers and mobile scatterers. The movement of the scatterers relative to the transceiver is also considered while considering the movement of the transceiver. Tx represents the mobile transmitter and Rx represents the mobile receiver.

[0103] This embodiment provides a UAV-V non-stationary channel modeling method based on regular geometry, using a cylindrical model to characterize the distribution of UAV side scatterers, a single sphere model to characterize the distribution of mobile vehicle side scatterers, a semi-ellipsoid model to simulate the urban street environment, and a bottom concentric circle model to simulate the ground primary reflection distribution; according to the M2M channel characteristics, the channel model consists of line-of-sight and non-line-of-sight LoS components, where the non-line-of-sight LoS component consists of primary scattering, secondary scattering and ground primary reflection components. While considering the movement of the transceiver, the movement of the scatterer relative to the transceiver is also considered; based on the geometric random model, the expressions of the model's space-time cross-correlation function and Doppler power spectrum density are derived, and a UAV-V non-stationary channel model based on regular geometry is established.

[0104] Specifically, Figure 1 As shown, O T and O R denote the center of the Tx antenna array of the mobile transmitter and the center of the Rx antenna array of the mobile receiver, respectively. p and p' denote the pth antenna and p'th antenna of the Tx antenna of the mobile transmitter, respectively. S n1 Represents the distribution of the cylindrical model n 1 scatterers, S n2 represents the distribution of the single-sphere model n2 scatterers, S n3 Represents the distribution of the semi-ellipsoidal model n 3 scatterers, S n4 The distribution of the circular model representing the ground reflection n 4 scatterers, Indicates the moving speed of the mobile transmitter Tx, Indicates the moving azimuth of the mobile transmitter Tx, Indicates the moving pitch angle of the mobile transmitter Tx, Represents the scatterer Sn 1 The departure azimuth of the ray, Represents the scatterer Sn 1 The departure pitch angle of the ray, Indicates the moving speed of the mobile receiving end Rx, represents the moving azimuth of the mobile receiving end Rx, Indicates the moving pitch angle of the mobile receiving end Rx, Represents the scatterer Sn 2 The departure azimuth of the ray, Represents the scatterer Sn 2 The departure pitch angle of the ray, the transmitting and receiving ends contain P and Q antenna units respectively, and the channel It is expressed as:

[0105]

[0106] Among them, p ranges from 1 to P, and q ranges from 1 to Q;

[0107] The stationary scatterer is represented by a semi-ellipsoid model, and the mobile scatterer is represented by a cylinder and a sphere. According to the concept of the time delay line (TDL) model, the complex channel impulse response (CIR) between the pth Tx antenna unit and the qth Rx antenna unit of the MIMO channel is express:

[0108]

[0109] in, is the line-of-sight LoS component at time t, is the single bullet weight at time t, is the double elastic component at time t, It is the first reflection component of the ground at time t.

[0110] For the LoS component, the specific expression is:

[0111]

[0112] Where K refers to the Rice factor coefficient, refers to the carrier wavelength, Refers to the distance between antenna unit p and antenna unit q, , are the maximum Doppler frequencies at the transmitting and receiving ends, respectively, , are the azimuth and elevation angles of the LoS path at the transmitter, , are the azimuth and elevation angles of the LoS path at the receiving end, respectively.

[0113] parameter is the distance between the pth antenna element and the center of the UAV antenna array, parameter is the distance between the centers of the qth GS antenna arrays. For uniform arrays, they are defined as:

[0114] ,

[0115] ,

[0116] in , are the antenna array spacings of Tx and Rx respectively.

[0117] For the impulse response component of a single-projectile channel, its specific expression is:

[0118]

[0119] in: Refers to the power of each single bomb component, It refers to the sum of the single-bomb paths passing through the Sni-th scattering point. This embodiment includes three paths: p→Sn1→q, p→Sn2→q, and p→Sn3→q.

[0120] , are the azimuth and elevation angles from the transmitter to the scattering point, , are the azimuth and elevation angles from the receiver to the scattering point, respectively.

[0121] For the double-bounce channel impulse response component, in this embodiment, there are three double-bounce paths: p→Sn1→Sn2→q, p→Sn1→Sn3→q, and p→Sn3→Sn2→q, and their respective expressions are as follows:

[0122] ,

[0123] ,

[0124] ,

[0125] in: It refers to the power of each double-bomb component and the sum of the single-bomb paths passing through the Sni-th scattering point. This embodiment includes three paths: p→Sn1→q, p→Sn2→q, and p→Sn3→q.

[0126] For the ground primary scattering component, the expression is as follows:

[0127]

[0128] Furthermore, the azimuth angle of the scatterer obeys the Von Mises distribution, which is expressed as follows:

[0129] ,

[0130] in represents the mean of the azimuth angles, is a real-valued parameter controlling the distribution of concentration in azimuth relative to the mean, represents the modified Bessel function of the first kind of order 0.

[0131] Furthermore, the pitch angle of the scatterer obeys a cosine distribution with upper and lower limits, expressed as:

[0132]

[0133] in, Indicates the mean value of the pitch angle, which is 0 in the classic V2V scenario. Indicates the maximum range of the pitch angle deviation from the mean.

[0134] The probability density function of the radius R of the scatterer distribution position that characterizes the ground reflection for:

[0135] ,

[0136] in Indicates the radius of the sphere model surrounding the mobile receiver Rx.

[0137] The space-time cross-correlation function is expressed as:

[0138] ,

[0139] By setting The spatial cross-correlation function CCF (spatial CCF) is obtained, which is expressed as:

[0140] ,

[0141] By setting , that is, the same antenna unit is used at the mobile transmitter Tx and the mobile receiver Rx, and the temporal autocorrelation function ACF (temporal ACF) is obtained to measure the temporal correlation of the channel, which is expressed as:

[0142] ,

[0143] Among them, for the line-of-sight LoS component, the specific expression is:

[0144] ,

[0145] For urban street scenes, the parameters used are: , , , , , , , , , , .

[0146] calculate , At time , the spatial correlation function of the SB1 ray component of the simulation model under different UAV antenna elevation angles. Figure 2 As shown, Indicates the elevation angle of the antenna array of the mobile transmitter Tx.

[0147] calculate The time correlation function of the SB3 ray component under different states of the transmitter and receiver of the simulation model. Figure 3 As shown, where t represents time.

[0148] In summary, this embodiment models the UAV-V non-stationary channel based on regular geometry in an urban street environment. Aiming at the problem that the channel model from drone to car in the current urban street scenario has not been fully understood, a new three-dimensional non-stationary UAV-V GBSM is proposed to describe the transmission channel in the urban street scenario. The model is universal and adaptable, and can be used to simulate various non-stationary UAV-to-car communication scenarios in an urban street environment.

[0149] The present invention provides a UAV-V non-stationary channel modeling method based on regular geometry. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A UAV-V non-stationary channel modeling method based on regular geometry, characterized in that: The following steps are involved: Step 1: For the urban street scene, a three-dimensional semi-ellipsoid, cylindrical, and single-sphere composite geometric model of the non-stationary channel from the UAV to the vehicle is simulated and established. The cylindrical model is used to characterize the distribution of scatterers on the Tx side of the UAV and the mobile transmitter, and the single-sphere model is used to characterize the distribution of scatterers on the Rx side of the mobile vehicle and the mobile receiver. The semi-ellipsoid model is used to simulate the urban street environment, and the bottom concentric circle model is used to simulate the distribution of the ground primary reflection. Step 2: Establish a channel model based on the mobile-to-mobile channel characteristics and calculate the impulse channel response, including the line-of-sight LoS component and the non-line-of-sight NLoS component; Step 3, based on the geometric random model, derive the expressions of the geometric model space-time cross-correlation function and Doppler power spectrum density, and establish a UAV-V non-stationary channel model based on regular geometry; Step 2 includes: for a multiple-input multiple-output MIMO channel, calculating an impulse channel response, that is, a channel relationship between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx, where p = 1, 2, ..., M T ,q==1,2,…,M R ; where M T Indicates the total number of Tx antennas at the mobile transmitter, M R Indicates the total number of Rx antennas at the mobile receiving end; The pulse channel response includes a line-of-sight LoS component and a non-line-of-sight NLoS component, wherein the non-line-of-sight NLoS component is divided into a single-bounce SB component, a double-bounce DB component and a ground-reflected SBG component according to the process experienced by the signal from the mobile transmitting end Tx to the mobile receiving end Rx, specifically, an SB1 ray component passing through a scatterer on a cylindrical model of the mobile transmitting end Tx, an SB2 ray component passing through a scatterer on a single-sphere model of the mobile receiving end Rx, an SB3 ray component passing through a scatterer on a semi-ellipsoidal model, and a DB1 ray component passing through a scatterer on the cylindrical model of the mobile transmitting end Tx and a scatterer on the single-sphere model of the mobile receiving end Rx, respectively, a DB2 ray component passing through a scatterer on the cylindrical model of the mobile transmitting end Tx and a scatterer on a semi-ellipsoidal model, respectively, a DB2 ray component passing through a scatterer on a single-sphere model of the mobile receiving end Rx and a scatterer on a semi-ellipsoidal model, and an SBG ray component reflected by the ground; The complex channel impulse response h between the pth mobile transmitter Tx antenna unit and the qth mobile receiver Rx antenna unit of the multiple-input multiple-output MIMO channel pq (t) is expressed as: in, is the LoS component of the line of sight at time t, is the single bullet weight at time t, is the double elastic component at time t, is the ground reflection component at time t; Step 2 also includes: the line-of-sight LoS component The specific expression is: Where K is the Rice factor, λ is the carrier wavelength, and ε pq (t) refers to the distance between the pth mobile transmitter Tx antenna unit and the qth mobile receiver Rx antenna unit, f Tm , f Rm are the maximum Doppler frequency caused by the mobile transmitter passing through the static scatterer and the maximum Doppler frequency of the mobile receiver Rx, are the azimuth and elevation angles of the line of sight of the mobile transmitter, are the azimuth and elevation angles of the receiving end’s line of sight, △t represents the time delay; γ T represents the moving azimuth angle of the mobile transmitter Tx, ξ represents the moving elevation angle of the mobile transmitter Tx, and γ R represents the moving azimuth of the mobile receiving end Rx, e is a natural constant, and j is an imaginary unit; Parameter Δ T is the distance between the pth antenna element and the center of the UAV antenna array, parameter Δ R is the distance between the centers of the qth GS antenna arrays. For a uniform array, it is defined as: where δ T , δ R are the antenna array spacing of the mobile transmitting end Tx and the antenna array spacing of the mobile receiving end Rx respectively; The mobile transmitter Tx and the mobile receiver Rx use uniform linear antenna arrays and are equipped with M T and M R Root antenna, O T and O R They represent the center of the Tx antenna array of the mobile transmitter and the center of the Rx antenna array of the mobile receiver, respectively. It is assumed that there are N1 dynamic scatterers distributed on the cylindrical model, and the n1th scatterer represents S n1 , there are N2 dynamic scatterers distributed on the single sphere model, and the n2th scatterer represents S n2 , where n1 = 1, 2, ..., N1; n2 = 1, 2, ..., N2; There are N3 stationary scatterers distributed on the semi-ellipsoid model. The n3th scatterer represents S n3 , and N4 dynamic scatterers are distributed on the circular model representing ground reflection. The n4th scatterer represents S n4 , where n3 = 1, 2, ..., N3; n4 = 1, 2, ..., N4; Respectively by and Indicates that the scatterer Sn i The departure azimuth angle AAoD and departure elevation angle EAoD of the ray are respectively and Indicates the corresponding arrival azimuth angle AAoA and arrival elevation angle EAoA; i = 1, 2, 3, 4; For single-bullet component The expression is: in Refers to the power of each single bomb component, ε pq ,n i (t) refers to the scatterer Sn i The sum of the paths of the single-bullet paths, n i (t) represents the nth i scatterers, Indicates that the number of scatterers tends to infinity, f Tm,n , f Rm,n are respectively the maximum Doppler frequency caused by the mobile transmitting end Tx passing through the dynamic scatterer and the maximum Doppler frequency of the mobile receiving end Rx, and the sum of the paths includes three: the SB1 ray passing through the scatterer on the cylindrical model of the mobile transmitting end Tx, the SB2 ray passing through the scatterer on the single sphere model of the mobile receiving end Rx, and the SB3 ray passing through the scatterer on the semi-ellipsoidal model; are the azimuth and elevation angles from the mobile transmitter to the scattering point, are the azimuth and elevation angles from the mobile receiving end to the scattering point, respectively; For the double-bounce component, there are three double-bounce paths, namely: DB1 rays passing through the scatterers on the mobile transmitter Tx cylindrical model and the scatterers on the mobile receiver Rx single sphere model DB2 rays passing through the scatterers on the mobile transmitter Tx cylindrical model and the semi-ellipsoidal model DB2 rays passing through the scatterers on the single sphere model and the semi-ellipsoid model of the mobile receiving end Rx The respective expressions are: in represents the energy-related parameter of the DB1 ray component, represents the energy-related parameter of the DB2 component, represents the energy-related parameter of the DB3 component, represents the distance between scatterer Sn1 and scatterer Sn2, represents the departure azimuth of the ray passing through the scatterer Sn1, represents the departure pitch angle of the ray Sn1 after passing through the scatterer, represents the arrival azimuth of the ray Sn2 passing through the scatterer, represents the arrival pitch angle of the ray Sn2 after the scatterer; represents the distance between scatterer Sn1 and scatterer Sn3, represents the departure azimuth of the ray passing through the scatterer Sn1, represents the arrival azimuth of the Sn3 ray passing through the scatterer, represents the arrival pitch angle of the ray Sn3 after the scatterer; represents the distance between scatterer Sn1 and scatterer Sn3, represents the departure azimuth of the ray Sn3 passing through the scatterer, The departure pitch angle of the Sn3 ray passing through the scatterer; For the ground first reflection component The expression is: where η SBG represents the energy-related parameter representing the SBG ray component, ε pq , n4(t) represents the sum of the paths passing through the scatterer Sn4, represents the departure azimuth of the Sn4 ray passing through the scatterer, The departure pitch angle of the Sn4 ray after the scatterer is, represents the arrival azimuth of the Sn4 ray passing through the scatterer, represents the arrival pitch angle of the Sn4 ray passing through the scatterer; Step 2 also includes: Due to the presence of mobile scatterers, the corresponding maximum Doppler shift will also change, f Tm,n , f Rm,n The calculation formula is: f Tm,n =|v T cosγ T -v SR | / λ, f Rm,n =|v R cosγ R -v SR | / λ, where v T represents the moving speed of the mobile transmitter Tx, γ T represents the moving azimuth of the mobile transmitter Tx, v SR represents the moving speed of the scatterer; v R represents the moving speed of the mobile receiving end Rx, γ R represents the moving azimuth of the mobile receiving end Rx; Step 2 also includes: converting the discrete variable forms of the azimuth angle AoD, the pitch angle AoA, and the radius R of the ground first reflection model circle into continuous variables, and setting the azimuth angle AoD, the pitch angle AoA, and the radius R of the ground first reflection model circle to be independent; using the von Mises distribution to describe the scattering body Sn i The departure angle of the ray and arrival azimuth The distribution of is defined as: in Indicates that the scatterer Sn i The departure azimuth of the ray, Indicates that the scatterer Sn i The departure angle of the ray The probability density function PDF of Departure azimuth The mean value of k i is a real-valued parameter controlling the distribution of concentration in azimuth relative to the mean, k i ≥0, k i The smaller the k is, the closer the scatterer distribution is to uniform distribution. i The larger the value, the closer it is to the standard normal distribution. i ) represents the modified Bessel function of the first kind of order 0; in Indicates that the scatterer Sn i The ray's arrival angle, Indicates that the scatterer Sn i The ray's arrival angle The probability density function PDF of Indicates the arrival azimuth The mean of For the probability density function PDF of the pitch angle, the cosine distribution commonly used in the vehicle-to-vehicle (V2V) scenario is used to describe the distribution of the pitch angle. The specific expression is: in Indicates that the scatterer Sn i The ray's departure pitch angle, Indicates that the scatterer Sn i The ray's departure pitch angle The distribution function of Indicates departure pitch angle The mean of Indicates departure pitch angle The maximum deviation from the mean; in Indicates that the scatterer Sn i The ray's arrival pitch angle, Indicates that the scatterer Sn i The ray's arrival pitch angle The distribution function of Indicates the arrival pitch angle The mean of Indicates the arrival pitch angle The maximum deviation from the mean; The probability density function f(R) of the radius R of the scatterer distribution position that the ground reflection passes through is: f(R)=2R / (R R ) 2 , Where R R Indicates the radius of the sphere model surrounding the mobile receiver Rx.

2. The method according to claim 1, characterized in that Step 3 includes: The space-time cross-correlation function is expressed as: in, represents the space-time cross-correlation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx, represents the line-of-sight LoS component of the space-time cross-correlation function, represents the single-shot component of the space-time cross-correlation function, represents the double elastic component of the space-time cross-correlation function, represents the ground primary reflection component of the space-time cross-correlation function, δ T ,δ R They represent the antenna array spacing of the mobile transmitting end Tx and the antenna array spacing of the mobile receiving end Rx respectively; By setting Δt = 0, the spatial cross-correlation function CCF is obtained, which is expressed as: in represents the spatial cross-correlation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx, represents the line-of-sight LoS component of the spatial cross-correlation function, represents the single-elastic component of the spatial cross-correlation function, represents the double elastic component of the spatial cross-correlation function, Represents the ground primary reflection component of the spatial cross-correlation function; By setting δ T =δ R =0, that is, the same antenna unit is used at the mobile transmitter Tx and the mobile receiver Rx, and the time autocorrelation function ACF is obtained to measure the time correlation of the channel, which is expressed as: in represents the time autocorrelation function of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx, represents the line-of-sight LoS component of the temporal autocorrelation function, represents the single-bounce component of the time autocorrelation function, represents the double elastic component of the time autocorrelation function, Represents the ground primary reflection component of the time autocorrelation function; Among them, for the line-of-sight LoS component, the specific expression is: in The time autocorrelation function of the channel between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx and the channel between the p'th antenna of the mobile transmitter Tx and the q'th antenna of the mobile receiver Rx represents the line-of-sight LoS component, ε p′q′ (t) represents the distance between the p'th antenna of the mobile transmitter Tx and the q'th antenna of the mobile receiver Rx, ε pq (t) represents the distance between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx; For the SB1 ray component passing through the scatterer on the mobile transmitter Tx cylindrical model, the SB2 ray component passing through the scatterer on the mobile receiver Rx cylindrical model, and the SB3 ray component passing through the scatterer on the semi-ellipsoid model in the single-bomb channel, the specific expressions are: in The time autocorrelation function SB1 ray component representing the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx through the scatterer on the cylindrical model of the mobile transmitting end Tx, η SB1 represents the energy-related parameter of the SB1 ray component, represents the minimum value of the departure pitch angle of the ray Sn1 passing through the scatterer, represents the maximum departure pitch angle of the ray Sn1 passing through the scatterer, represents the distance between the pth antenna of the mobile transmitter Tx and the scatterer Sn1, represents the distance between the p'th antenna of the mobile transmitter Tx and the scatterer Sn1, represents the distance between the qth antenna of the mobile receiving end Rx and the scatterer Sn1, represents the distance between the q'th antenna of the mobile receiving end Rx and the scatterer Sn1, It indicates the maximum Doppler frequency caused by the mobile transmitter Tx passing through the scatterer Sn1. It represents the maximum Doppler frequency caused by the mobile receiving end Rx passing through the scatterer Sn1. represents the departure azimuth of the ray passing through the scatterer Sn1, represents the departure pitch angle of the ray Sn1 after passing through the scatterer, represents the arrival azimuth of the ray passing through the scatterer Sn1, represents the arrival pitch angle of the ray Sn1 after passing through the scatterer, express The probability density function of express The probability density function of For the SB2 ray component passing through the scatterer on the single sphere model of the mobile receiving end Rx in the single-ball channel, the specific expression is: in The time autocorrelation function SB2 ray component representing the channel between the pth antenna of the mobile transmitting end Tx and the qth antenna of the mobile receiving end Rx and the channel between the p'th antenna of the mobile transmitting end Tx and the q'th antenna of the mobile receiving end Rx through the scatterer on the single sphere model of the mobile receiving end Rx, η SB2 represents the energy-related parameter of the SB2 ray component, represents the minimum value of the pitch angle of the ray Sn2 arriving after the scatterer, represents the maximum value of the pitch angle of the ray Sn2 arriving after passing through the scatterer, represents the distance between the pth antenna of the mobile transmitter Tx and the scatterer Sn2, represents the distance between the p'th antenna of the mobile transmitter Tx and the scatterer Sn2, represents the distance between the qth antenna of the mobile receiving end Rx and the scatterer Sn2, represents the distance between the q'th antenna of the mobile receiving end Rx and the scatterer Sn2, It indicates the maximum Doppler frequency caused by the mobile transmitter Tx passing through the scatterer Sn2. It represents the maximum Doppler frequency caused by the mobile receiving end Rx passing through the scatterer Sn2. represents the departure azimuth of the ray Sn2 passing through the scatterer, represents the departure pitch angle of the ray Sn2 passing through the scatterer, represents the arrival azimuth of the ray Sn2 passing through the scatterer, represents the arrival pitch angle of the ray Sn2 after the scatterer, express The probability density function of express The probability density function of For the SB3 ray component passing through the scatterer on the semi-ellipsoid model, the specific expression is: in It is represented by the time autocorrelation function SB3 ray component of the channel between the pth antenna of the mobile transmitting end Tx and the qth antenna of the mobile receiving end Rx and the channel between the p'th antenna of the mobile transmitting end Tx and the q'th antenna of the mobile receiving end Rx through the scatterer on the semi-ellipsoid model, η SB3 represents the energy-related parameter of the SB3 ray component, represents the minimum value of the pitch angle of the Sn3 ray after the scatterer. represents the maximum value of the pitch angle of the Sn3 ray after the scatterer. represents the distance between the pth antenna of the mobile transmitter Tx and the scatterer Sn3, represents the distance between the p'th antenna of the mobile transmitter Tx and the scatterer Sn3, represents the distance between the qth antenna of the mobile receiving end Rx and the scatterer Sn3, represents the distance between the q'th antenna of the mobile receiving end Rx and the scatterer Sn3, It indicates the maximum Doppler frequency caused by the mobile transmitter Tx passing through the scatterer Sn3. It represents the maximum Doppler frequency caused by the mobile receiving end Rx passing through the scatterer Sn3. represents the departure azimuth of the ray Sn3 passing through the scatterer, represents the departure pitch angle of the ray Sn3 passing through the scatterer, represents the arrival azimuth of the Sn3 ray passing through the scatterer, represents the arrival pitch angle of the ray Sn3 after the scatterer, express The probability density function of express The probability density function of For the SBG ray component reflected by the ground, the specific expression is: in, It is represented by the time autocorrelation function SBG ray component of the channel between the pth antenna of the mobile transmitting end Tx and the qth antenna of the mobile receiving end Rx and the channel between the p'th antenna of the mobile transmitting end Tx and the q'th antenna of the mobile receiving end Rx after ground reflection, η SB4 represents the energy-related parameter of the SBG ray component, represents the distance between the pth antenna of the mobile transmitter Tx and the scatterer Sn4, represents the distance between the p'th antenna of the mobile transmitter Tx and the scatterer Sn4, represents the distance between the qth antenna of the mobile receiving end Rx and the scatterer Sn4, represents the distance between the q'th antenna of the mobile receiving end Rx and the scatterer Sn4, It indicates the maximum Doppler frequency caused by the mobile transmitter Tx passing through the scatterer Sn4. It represents the maximum Doppler frequency caused by the mobile receiving end Rx passing through the scatterer Sn4. represents the departure azimuth of the Sn4 ray passing through the scatterer, represents the departure pitch angle of the Sn4 ray passing through the scatterer, represents the arrival azimuth of the ray Sn4 passing through the scatterer, H0 represents the height difference between the mobile transmitter Tx and the mobile receiver Rx, express The probability density function of For the DB1 ray component passing through the scatterer on the mobile transmitter Tx cylindrical model and the scatterer on the mobile receiver Rx cylindrical model in the double-bomb channel, the specific expression is: in, The time autocorrelation function DB1 ray component representing the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx passing through the scatterer on the cylindrical model of the mobile transmitting end Tx and the scatterer on the cylindrical model of the mobile receiving end Rx, represents the minimum value of the departure pitch angle of the ray Sn1 passing through the scatterer, represents the maximum departure pitch angle of the ray Sn1 passing through the scatterer, represents the minimum value of the pitch angle of the ray Sn2 arriving after the scatterer, represents the maximum value of the pitch angle of the ray Sn2 arriving after passing through the scatterer, Indicates the distance between the antenna passing through the scatterer Sn1 and the scatterer Sn2; For the DB2 ray components passing through the scatterers on the Tx cylindrical model of the mobile transmitter and the scatterers on the semi-ellipsoidal model in the double-bomb channel, the specific expressions are: in, The DB2 ray component of the time autocorrelation function representing the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx passing through the scatterer on the cylindrical model of the mobile transmitting end Tx and the scatterer on the semi-ellipsoidal model, represents the minimum value of the departure pitch angle of the ray Sn1 passing through the scatterer, represents the maximum departure pitch angle of the ray Sn1 passing through the scatterer, represents the minimum value of the pitch angle of the Sn3 ray after the scatterer. represents the maximum value of the pitch angle of the Sn3 ray after the scatterer. Indicates the distance between the antenna passing through the scatterer Sn1 and the scatterer Sn3; For the DB3 ray components passing through the scatterers on the cylindrical model of the mobile receiving end Rx and the scatterers on the semi-ellipsoidal model in the double-bomb channel, the specific expressions are: in, It is represented as the time autocorrelation function DB3 ray component of the channel between the p-th antenna of the mobile transmitting end Tx and the q-th antenna of the mobile receiving end Rx and the channel between the p'-th antenna of the mobile transmitting end Tx and the q'-th antenna of the mobile receiving end Rx through the scatterer on the cylindrical model of the mobile receiving end Rx and the scatterer on the semi-ellipsoidal model, represents the minimum value of the pitch angle of the Sn3 ray after the scatterer. represents the maximum value of the pitch angle of the Sn3 ray after the scatterer. represents the minimum value of the pitch angle of the ray Sn2 arriving after the scatterer, represents the maximum value of the pitch angle of the ray Sn2 arriving after passing through the scatterer, Indicates the distance between the antenna passing through the scatterer Sn2 and the scatterer Sn3; The energy parameters must satisfy the following formula: or SB1 +n SB2 +n SB3 +n DB1 +n DB2 +n DB3 +n SBG =1.

3. The method according to claim 2, characterized in that Step 3 also includes: the Doppler power spectrum density expression is: Where S(f,t) represents the Doppler power spectral density of the channel between the pth antenna of the mobile transmitter Tx and the qth antenna of the mobile receiver Rx, R p,q (Δt, t) represents the time autocorrelation function of the channel between the p-th antenna of the mobile transmitter Tx and the q-th antenna of the mobile receiver Rx.

4. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores program codes, and when the program codes are executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 3.

5. A storage medium, characterized in that: A computer program or instruction is stored, and when the computer program or instruction is run on a computer, the steps of the method according to any one of claims 1 to 3 are executed.

Images