Track planning method and device, electronic equipment, storage medium and program product

Abstract

The invention relates to the technical field of communication, and particularly provides a trajectory planning method and device, electronic equipment, a storage medium and a program product. The method comprises: according to a first antenna gain of a target device, a transmitting power and a second antenna gain respectively corresponding to each ground device in a target measurement environment, physical environment information of the target measurement environment, and path loss measurement value sets respectively corresponding to a plurality of device candidate trajectories, determining a path loss measurement value set corresponding to a plurality of device candidate trajectories; determining a dielectric constant error set corresponding to each equipment candidate track; the dielectric constant error set comprises dielectric constant estimation errors of a plurality of dielectric constant parameters in the target measurement environment; and according to the dielectric constant error set corresponding to each equipment candidate track, selecting a target equipment track from each equipment candidate track. In this way, the optimal target device trajectory can be selected through the dielectric constant estimation error determined based on different device candidate trajectories.

Description

Technical Field

[0001] The present application relates to the field of communication technology and specifically to a trajectory planning method, device, electronic device, storage medium and program product. Background Art

[0002] In communication application scenarios, the target device (such as a drone) is usually controlled to run along a certain trajectory. During the operation of the target device, the path loss of the communication link between the target device and various ground devices in the environment is periodically collected. The dielectric constant parameters that affect the channel in the environment are estimated through the path losses.

[0003] In traditional methods, the operating trajectory of the target device is usually not considered, which affects the estimation performance of the dielectric constant parameters. The estimation performance of the dielectric constant parameters may be poor. Therefore, how to optimize the device operating trajectory for the estimation of the dielectric constant parameters to improve the estimation performance of the dielectric constant parameters is a problem that needs to be solved. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a trajectory planning method, device, electronic device, storage medium and program product to solve the problem of how to optimize the device operation trajectory.

[0005] On the one hand, an embodiment of the present application provides a method for trajectory planning, the method comprising:

[0006] Obtaining a first antenna gain of a target device, a transmit power and a second antenna gain corresponding to each ground device in a target measurement environment, physical environment information of the target measurement environment, and a set of path loss measurement values ​​corresponding to a plurality of device candidate trajectories; each set of path loss measurement values ​​includes a path loss of a communication link between a target device moving along a corresponding device candidate trajectory and each ground device at a plurality of time points;

[0007] Determine a dielectric constant error set corresponding to each device candidate trajectory according to a set of path loss measurement values ​​corresponding to each device candidate trajectory, a first antenna gain, a transmission power and a second antenna gain corresponding to each ground device, and physical environment information; the dielectric constant error set includes dielectric constant estimation errors of multiple dielectric constant parameters in the target measurement environment;

[0008] According to the dielectric constant error sets corresponding to the candidate device trajectories, a target device trajectory is selected from the candidate device trajectories.

[0009] In one implementation, selecting a target device trajectory from each of the candidate device trajectories according to the dielectric constant error set corresponding to each of the candidate device trajectories includes:

[0010] For each set of dielectric constant errors corresponding to the candidate device trajectory, perform the following steps until the target device trajectory is determined:

[0011] After determining the dielectric constant error set, calculating the average of each dielectric constant estimation error in the dielectric constant error set to obtain the average estimation error corresponding to the device candidate trajectory;

[0012] If it is determined that the average estimation error meets the set trajectory conditions, the device candidate trajectory is determined as the target device trajectory.

[0013] In one implementation, selecting a target device trajectory from each of the candidate device trajectories according to the dielectric constant error set corresponding to each of the candidate device trajectories includes:

[0014] Determine the average estimation error corresponding to each device candidate trajectory according to the dielectric constant error set corresponding to each device candidate trajectory;

[0015] The device candidate trajectory corresponding to the minimum value of each average estimation error is determined as the target device trajectory.

[0016] In one embodiment, the physical environment information includes: environmental geometry modeling of the target measurement environment, ray interaction information of each communication link;

[0017] Environmental geometry modeling represents the position and shape of environmental objects in the target measurement environment;

[0018] The ray interaction information includes the coordinates of the interaction points between the multiple rays of the communication link and the target measurement environment and the interaction types.

[0019] In one implementation, the path loss is a reference signal received power;

[0020] For each ground device respectively, a reference signal received power of a target communication link between the target device and the ground device is positively correlated with the first antenna gain, the second antenna gain and the transmit power of the ground device, and the path energy gain of the target communication link;

[0021] The path energy gain of the target communication link is determined based on the environment geometry modeling, the device position of the target device, the ray interaction information of the target communication link, and various dielectric constant parameters.

[0022] In one embodiment, after selecting the target device trajectory from each of the candidate device trajectories according to the dielectric constant error sets corresponding to each of the candidate device trajectories, the method further includes:

[0023] Determine a dielectric constant estimation value set corresponding to the target device trajectory according to the path loss measurement value set corresponding to each device candidate trajectory, the first antenna gain, the transmission power and the second antenna gain of each ground device, and the physical environment information; the dielectric constant estimation value set includes the dielectric constant estimation value of each dielectric constant parameter in the target measurement environment;

[0024] Determine a path loss estimation value set corresponding to the target device trajectory according to a set of dielectric constant estimation values ​​corresponding to the target device trajectory, a first antenna gain, a transmission power and a second antenna gain of the ground device, and physical environment information; the path loss estimation value set includes a plurality of estimated path losses of a communication link between the target device and each ground device;

[0025] A path loss estimation error is determined based on a set of path loss estimation values ​​and a set of path loss measurement values ​​corresponding to the target device trajectory.

[0026] In one embodiment, the method further comprises:

[0027] Generate a candidate device trajectory according to at least one of the following: set a moving area, a trajectory running time range, a moving number threshold, set a moving mode, a starting position range, and an ending position range.

[0028] On the one hand, an embodiment of the present application provides a trajectory planning device, including:

[0029] An acquisition unit is used to acquire a first antenna gain of a target device, a transmission power and a second antenna gain corresponding to each ground device in a target measurement environment, physical environment information of the target measurement environment, and a set of path loss measurement values ​​corresponding to a plurality of device candidate trajectories; each set of path loss measurement values ​​includes a path loss of a communication link between a target device moving along a corresponding device candidate trajectory and each ground device at a plurality of time points;

[0030] A determination unit, configured to determine a dielectric constant error set corresponding to each device candidate trajectory according to a set of path loss measurement values ​​corresponding to each device candidate trajectory, a first antenna gain, a transmit power and a second antenna gain corresponding to each ground device, and physical environment information; the dielectric constant error set includes dielectric constant estimation errors of multiple dielectric constant parameters in a target measurement environment;

[0031] The selection unit is used to select a target device trajectory from each device candidate trajectory according to a dielectric constant error set corresponding to each device candidate trajectory.

[0032] In one implementation, the selection unit is used to:

[0033] For each set of dielectric constant errors corresponding to the candidate device trajectory, perform the following steps until the target device trajectory is determined:

[0034] After determining the dielectric constant error set, calculating the average of each dielectric constant estimation error in the dielectric constant error set to obtain the average estimation error corresponding to the device candidate trajectory;

[0035] If it is determined that the average estimation error meets the set trajectory conditions, the device candidate trajectory is determined as the target device trajectory.

[0036] In one implementation, the selection unit is used to:

[0037] Determine the average estimation error corresponding to each device candidate trajectory according to the dielectric constant error set corresponding to each device candidate trajectory;

[0038] The device candidate trajectory corresponding to the minimum value of each average estimation error is determined as the target device trajectory.

[0039] In one embodiment, the physical environment information includes: environmental geometry modeling of the target measurement environment, ray interaction information of each communication link;

[0040] Environmental geometry modeling represents the position and shape of environmental objects in the target measurement environment;

[0041] The ray interaction information includes the coordinates of the interaction points between the multiple rays of the communication link and the target measurement environment and the interaction types.

[0042] In one implementation, the path loss is a reference signal received power;

[0043] For each ground device respectively, a reference signal received power of a target communication link between the target device and the ground device is positively correlated with the first antenna gain, the second antenna gain and the transmit power of the ground device, and the path energy gain of the target communication link;

[0044] The path energy gain of the target communication link is determined based on the environment geometry modeling, the device position of the target device, the ray interaction information of the target communication link, and various dielectric constant parameters.

[0045] In one implementation, the selection unit is further configured to:

[0046] Determine a dielectric constant estimation value set corresponding to the target device trajectory according to the path loss measurement value set corresponding to each device candidate trajectory, the first antenna gain, the transmission power and the second antenna gain of each ground device, and the physical environment information; the dielectric constant estimation value set includes the dielectric constant estimation value of each dielectric constant parameter in the target measurement environment;

[0047] Determine a path loss estimation value set corresponding to the target device trajectory according to a set of dielectric constant estimation values ​​corresponding to the target device trajectory, a first antenna gain, a transmission power and a second antenna gain of the ground device, and physical environment information; the path loss estimation value set includes a plurality of estimated path losses of a communication link between the target device and each ground device;

[0048] A path loss estimation error is determined based on a set of path loss estimation values ​​and a set of path loss measurement values ​​corresponding to the target device trajectory.

[0049] In one implementation, the acquisition unit is further configured to:

[0050] Generate a candidate device trajectory according to at least one of the following: set a moving area, a trajectory running time range, a moving number threshold, set a moving mode, a starting position range, and an ending position range.

[0051] On the one hand, an embodiment of the present application provides an electronic device, including:

[0052] Processor; and

[0053] A memory stores computer instructions, wherein the computer instructions are used to enable a processor to execute the steps of the method provided in any of the various optional implementations of trajectory planning described above.

[0054] On the one hand, an embodiment of the present application provides a computer-readable storage medium storing computer instructions, which are used to enable a computer to execute the steps of the method provided in any of the various optional implementations of trajectory planning described above.

[0055] On the one hand, a computer program product is provided in an embodiment of the present application, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the steps of the method provided in any of the various optional implementations of any of the above-mentioned trajectory planning.

[0056] The trajectory planning method in the embodiment of the present application includes obtaining the first antenna gain of the target device, the transmission power and the second antenna gain corresponding to each ground device in the target measurement environment, the physical environment information of the target measurement environment, and the path loss measurement value sets corresponding to multiple device candidate trajectories; each path loss measurement value set includes the path loss of the communication link between the target device moving according to the corresponding device candidate trajectory and each ground device at multiple time points; according to the path loss measurement value set corresponding to each device candidate trajectory, the first antenna gain, the transmission power and the second antenna gain corresponding to each ground device, and the physical environment information, the dielectric constant error set corresponding to each device candidate trajectory is determined; the dielectric constant error set includes the dielectric constant estimation error of multiple dielectric constant parameters in the target measurement environment; according to the dielectric constant error set corresponding to each device candidate trajectory, the target device trajectory is selected from each device candidate trajectory. In this way, a better target device trajectory can be selected through the dielectric constant estimation error. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0058] Figure 1 This is an example diagram of an application scenario in an embodiment of the present application.

[0059] Figure 2 It is a flow chart of a trajectory planning method in an embodiment of the present application.

[0060] Figure 3 It is a top view of a target measurement environment in an embodiment of the present application.

[0061] Figure 4 It is a three-dimensional view of a target measurement environment in an embodiment of the present application.

[0062] Figure 5 It is a curve chart of estimation error performance comparison in an embodiment of the present application.

[0063] Figure 6 It is a curve graph of path loss estimation error in an embodiment of the present application.

[0064] Figure 7 It is a structural block diagram of a trajectory planning device in an embodiment of the present application.

[0065] Figure 8It is a structural schematic diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described implementation methods are part of the implementation methods of the present application, rather than all of the implementation methods. Based on the implementation methods in the present application, all other implementation methods obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In addition, the technical features involved in the different implementation methods of the present application described below can be combined with each other as long as they do not conflict with each other.

[0067] Taking into account that the running trajectory of the target device will affect the estimation performance of the dielectric constant parameters, the embodiments of the present application provide a trajectory planning method, device, electronic device, storage medium and program product, aiming to solve the problem of how to optimize the running trajectory of the device.

[0068] A trajectory planning method is provided in an embodiment of the present application. The method can be applied to electronic devices. The present application does not limit the type of electronic device. It can be any type of device suitable for implementation, such as a terminal device and a server, etc. The present application will not go into details about this.

[0069] See also Figure 1 The figure shown is an example diagram of an application scenario. Figure 1 In the figure, the target measurement environment is shown, and the target measurement environment includes a drone (i.e., target device) and multiple ground devices, as well as multiple buildings (i.e., environmental objects). Each surface of the building has a corresponding dielectric constant parameter, for example, which can be expressed as ∈ 1.1 ,∈ 1.2 ,∈ 2.1 ,….

[0070] Combine the following Figure 1 and Figure 2 A method for trajectory planning in an embodiment of the present application is described, see Figure 2 As shown, it is a flow chart of a trajectory planning method in an embodiment of the present application, and the specific implementation process of the method is as follows:

[0071] Step 201: Obtain the first antenna gain of the target device, the transmission power and second antenna gain corresponding to each ground device in the target measurement environment, the physical environment information of the target measurement environment, and a set of path loss measurement values ​​corresponding to multiple device candidate trajectories; each set of path loss measurement values ​​includes the path loss of the communication link between the target device moving according to the corresponding device candidate trajectory and each ground device at multiple time points.

[0072] Among them, the physical environment information includes: the environmental geometry modeling Benv of the target measurement environment, and the ray interaction information of each communication link; the environmental geometry modeling represents the position (e.g., geographical location) and shape (e.g., building shape) of the environmental objects in the target measurement environment; the ray interaction information includes the coordinates of the interaction points and the interaction types between multiple rays of the communication link and the target measurement environment, which refers to the geometric information χ of the interaction between the ray and the environment in ray tracing.

[0073] Optionally, the path loss may be a reference signal received power (RSRP). In practical applications, the path loss may also be measured by other parameters, which are not limited here. The path loss may be measured periodically. The path loss may be obtained by the target device measuring the signals sent by each ground device, or by the ground device measuring the signals sent by the target device.

[0074] In one implementation, the candidate device trajectory may also be generated based on at least one of the following: setting a moving area, a trajectory running time range, a moving number threshold, setting a moving mode, a starting position range, and an ending position range.

[0075] Among them, the moving area is set as the moving range of the target device, which may include the ground range and the height range. For example, the entire area of ​​the target measurement environment may be determined as the set moving area. The trajectory operation time range refers to the total duration threshold of the target device trajectory movement, and may also include the start time. For example, the total duration threshold is 1 hour. The movement count threshold is the minimum and maximum value of the total number of movements during the target device trajectory movement. The setting movement mode may include flight altitude and flight speed, etc. The starting position range and the end position range are used to determine the starting position and destination of the target device trajectory movement.

[0076] In this way, candidate device trajectories that meet specific conditions can be generated according to the trajectory generation rules, that is, candidate device trajectories under conditions such as different moving modes, moving times, and end point positions can be generated.

[0077] Furthermore, in an embodiment of the present application, multiple different device candidate trajectories can be generated simultaneously, and a set of path loss measurement values ​​corresponding to each device candidate trajectory can be obtained, so as to select the optimal target device trajectory from each device candidate trajectory in a subsequent step. A loop method can also be used to generate each device candidate trajectory in turn, and based on the set of path loss measurement values ​​of the device candidate trajectory, determine whether it is a target device trajectory that meets the set trajectory conditions, until a target device trajectory that meets the set trajectory conditions is obtained, and the trajectory planning process is stopped.

[0078] Step 202: Determine a set of dielectric constant errors corresponding to each device candidate trajectory based on a set of path loss measurement values ​​corresponding to each device candidate trajectory, a first antenna gain, a transmission power and a second antenna gain corresponding to each ground device, and physical environment information; the dielectric constant error set includes dielectric constant estimation errors of multiple dielectric constant parameters in the target measurement environment.

[0079] Combination Figure 1 As shown, there are multiple dielectric constant parameters in the target measurement environment. Therefore, a dielectric constant error set includes multiple dielectric constant parameters and their corresponding dielectric constant estimation errors. The dielectric constant estimation error refers to the error in the dielectric constant parameter estimation.

[0080] Wherein, for each ground device, the reference signal received power of the target communication link between the target device and the ground device is positively correlated with the first antenna gain, the second antenna gain and the transmit power of the ground device, and the path energy gain of the target communication link; the path energy gain of the target communication link is determined based on the environment geometry modeling, the device position of the target device, the ray interaction information of the target communication link, and each dielectric constant parameter. Further, the reference signal received power can also be positively correlated with the error, for example, the error can be a Gaussian error of the path loss estimation.

[0081] Optionally, when determining the reference signal received power, the following formula may be used:

[0082]

[0083] Where t represents the number of the time slot, i represents the number of the ground equipment, represents the reference signal received power of ground device i measured in time slot t, P i represents the transmission power of ground equipment i, G r Represents the first antenna gain of the target device, G tr,i represents the second antenna gain of ground device i, represents the path energy gain of ground device i in time slot t in decibels (db), z t,i represents the Gaussian error between the reference signal received power and the actual reference signal received power of device i at time slot t. u[i] is the position of ground device i, u[i] = *u x [i],u y [i],u h [i]+, i∈[1,L], L is the total number of ground devices, x, y and h are the coordinate axes of the three-dimensional space coordinate system. v[t] represents the position of the target device at time slot t v=[v x ,v y ,v h], λ represents the carrier wavelength, Represents physical environment information.

[0084] In one application scenario, t,i The variance is The normal distribution of This error may come from various sources, such as measurement errors caused by the target device, disturbances in the measurement environment, and unaccounted-for multipath components.

[0085] because is the superposition of different ray energies. Therefore, for the convenience of representation, The following simplified representation is made:

[0086]

[0087] Where j is the ray number, J is the total number of rays in the communication link of ground device i, and g j,t,i represents the energy gain of ray j corresponding to ground device i in time slot t,

[0088] In the embodiment of the present application, the total time of data collection can be discretized into T time slots. The duration ΔT of each time slot is small enough, and the speed of the target device in a time slot can be considered to be approximately constant. In this case, the multipath composition (i.e., ray composition) of each communication link remains approximately unchanged in the spatial scale of the target device moving in a time slot.

[0089] At this time, the running trajectory of the target device (i.e., the candidate trajectory of the device) can be described as a set of positions, which can be recorded as V = {v[t], t = 1, ..., T}. v[t] represents the position of the target device at the start time of the tth time slot. Correspondingly, the data set of the reference signal received power collected from the ground device, i.e., the set of path loss measurement values, can be recorded as in, Represents the average RSRP data collected by the target device from the ground device i at position v[t]. Here, the average refers to the average value of the RSRP data during the second half of the t-1th time slot and the first half of the tth time slot.

[0090] Assuming that both the target device and the ground device are equipped with GPS, their geographic locations are known, and the transmission power of the ground device is also known. Therefore, the RSRP data set can be equivalently regarded as a set of path loss measurement values. Environmental geometry modeling and ray interaction information are used to determine the multipath information of different communication links in order to calculate g j,t,i. The dielectric constant parameter is a parameter to be estimated. Environmental geometry modeling, ray interaction information, and dielectric constant parameters will affect the reflection and diffraction of rays. In the embodiment of the present application, since the average received power is considered at each device position, and the phase of the multipath mainly affects the small-scale channel state rather than the average received power, when calculating the reference signal received power of the communication link, it is approximately considered that the impact of the multipath component on the path loss is the superposition of these ray energies.

[0091] It should be noted that It is considered as the Gaussian error of the average RSRP in a single time slot, rather than the error of a single RSRP measurement sample. In each time slot, the target device will measure the measured path loss samples of the number of ground devices, and each measurement sample is the average RSRP of the communication link between a ground device and the target device in a time slot.

[0092] In the function In the ray calculation involved, three basic rays under the vertical polarization of the antenna are considered: direct rays, reflected rays and diffracted rays. It should be noted that It also includes rays that interact with the environment multiple times, such as those that experience multiple reflections or are diffracted and reflected simultaneously. Note that multipath information and The target device only needs to collect the path loss measurement value.

[0093] In this way, when different device candidate trajectories are used, a plurality of different dielectric constant error sets can be obtained based on the measured path loss data (ie, each path loss).

[0094] Step 203: Select a target device trajectory from each of the candidate device trajectories according to the dielectric constant error set corresponding to each of the candidate device trajectories.

[0095] In one implementation, when executing step 203, any of the following methods may be used:

[0096] Method 1: Determine in turn whether each candidate device trajectory is a target device trajectory that meets the set trajectory conditions until the target device trajectory is obtained.

[0097] In one implementation, for each set of dielectric constant errors corresponding to the candidate device trajectory, the following steps are performed until the target device trajectory is determined:

[0098] After determining the dielectric constant error set, the average value of each dielectric constant estimation error in the dielectric constant error set is calculated to obtain the average estimation error corresponding to the device candidate trajectory; if it is determined that the average estimation error meets the set trajectory condition, the device candidate trajectory is determined as the target device trajectory.

[0099] In one implementation, the trajectory condition may be set such that the average estimation error is lower than a set error threshold, for example, the set error threshold may be 0.1. In practical applications, the set error threshold and the set trajectory condition may be set according to the actual application scenario, and are not limited here.

[0100] Method 2: Select the best target device trajectory from the candidate trajectories of each device.

[0101] In one implementation, the average estimation error corresponding to each device candidate trajectory is determined based on the dielectric constant error set corresponding to each device candidate trajectory; and the device candidate trajectory corresponding to the minimum value of each average estimation error is determined as the target device trajectory.

[0102] The following uses a simulation scenario to illustrate the above embodiment. Figure 3 As shown, it is a top view of a target measurement environment. Figure 3 The top view of the environmental geometry model of the target measurement environment and the distribution of ground equipment (GE) are shown. Figure 3 In the , ground equipment is marked by a solid five-pointed star, and the height of each building is marked in meters at the top of the building. Figure 4 , which is a three-dimensional view of a target measurement environment, showing the three-dimensional views of the environment geometric model at different perspectives.

[0103] Considering that the communication link between the target device and the ground device is less affected by the dielectric constant parameters of the building surface farther away from them, the simulation scene selected a 150m×150m urban scene in size, with a total of 7 buildings, and their heights are between 15m and 40m.

[0104] As for the configuration of the communication link, there are 16 GEs evenly distributed around the buildings in the scene to provide path loss data (i.e., a set of path loss measurement values) for the target device. Communication-related parameters Considering the carrier frequency of 2.4GHz in the common frequency band of wireless communication, the transmission power of the ground equipment, the second antenna gain, and the first antenna gain of the drone (i.e., the target device) as a receiver are 18dBm, 1dBi, and dBi, respectively. The flight altitude of the drone can be configured to range from 45m to 65m. In order to avoid the buildings in the scene becoming obstacles to the flight of the drone, the flight altitude of the drone is set higher than the height of all buildings. If the possible obstacles caused by buildings to the flight of the drone must be considered in actual operation, the flight space of the drone can be readjusted by setting the no-fly zone and the no-fly voxel position. The scale of the discretized grid in the simulation scene can be configured as Δx=Δy=15m and Δh=10m.

[0105] Considering the electromagnetic properties of different surfaces of the same building and the limited precision of the environmental geometry modeling, it is assumed that each building surface is characterized by an equivalent relative dielectric constant parameter. For the set of dielectric constant parameters M that need to be estimated, this section considers all building surfaces in the environmental model, including Figure 3 and Figure 4 The building sides and ceilings in the figure have a total of M=35.

[0106] For calculation Wireless propagation simulation software (Wireless InSite) can be used to obtain the simulated multipath information of the communication link through ray tracing and environmental geometric model, which includes the coordinates of the interaction points and interaction types of multiple rays, such as the geometric coordinates where reflection occurs and the geometric coordinates where diffraction occurs. Environmental geometric modeling such as Figure 4 As shown in the figure. Since the actual value of the dielectric constant parameter cannot be known during offline trajectory planning, the building material used to generate multipath information is uniformly set to concrete, and its relative dielectric constant parameter ∈r = 5.24. The maximum number of reflections and the maximum number of diffractions for each ray can be configured to 6 and 1, respectively. The total number of rays J for each communication link can be set to 5 to provide the multipath information required for offline trajectory planning.

[0107] Since the true value (i.e., actual value) and true distribution of the dielectric constant parameter cannot be obtained in advance, each dielectric constant parameter can be set to [a, b] uniformly distributed as prior information. In order to cover the relative dielectric constant parameters of most building materials, a = 1, b = 8, Q = 3, and X MC ={2.75,4.5,6.25}. The uniform distribution variance of the dielectric constant parameter is 4.083. Q is the number of samples, X MC Represents a collection of multiple dielectric constant parameters.

[0108] Since we hope to have more dielectric constant parameters detected and estimated, that is, to detect as many parameters as possible in M, we will max =w=100 is set to a value larger than the above uniform distribution variance cpri=4.083. max is the upper limit of the Cramer-Rao Bound (CRLB) variance amplitude, and w is the gain of the detection parameter.

[0109] Note that setting a larger c max The c and w values ​​do not invalidate the optimization of the expected CRLB variance. Instead, this indicates that probing the dielectric constant parameters takes precedence over optimizing the expected CRLB variance. max is set equal to w, which means that the upper limit of the amplitude of the CRLB variance is c maxIt is consistent with the gain w of the detection parameter.

[0110] Table 1

[0111] Material Type Relative dielectric constant parameters Conductivity Brick 3.91 0.0274 Glass 6.31 0.0116 Concrete 5.24 0.0916 Marble 7.074 0.0124 Wood 1.99 0.01201 Ceiling board 1.48 0.00282 Plasterboard 2.73 0.0193

[0112] See Table 1, which is an example table of electromagnetic parameters of a material. Table 1 shows the electromagnetic parameters of various International Telecommunication Union (ITU) 2.4G materials used in the simulation scenario, including relative permittivity parameters and conductivity.

[0113] In order to improve the efficiency of trajectory planning, only J=5 rays are configured. Since the real wireless environment often involves more multipaths, more rays can be configured in the simulation scenario. In addition, the electromagnetic properties of materials in the real environment also include conductivity, so the conductivity setting can also be configured in the simulation scenario. Since the true value of the dielectric constant parameter is unknown, multipath information under various material settings can be configured in the simulation scenario. As an example, in order to simulate the real scene as much as possible, 10 rays can be set for each communication link to consider more rays, and more conductivity and material types can be configured in combination with Table 1 to consider the diversity of materials and more multipath information. After collecting the path loss data in the simulation scenario, the dielectric constant parameter can be estimated based on the path loss data to obtain the average estimation error.

[0114] Optionally, the Generalized Approximate Message Passing (GAMP) algorithm considering the trust region can be used to estimate the dielectric constant parameters based on the path loss data. The parameters of the estimation algorithm are set as follows: the initial values ​​and variances of all relative dielectric constant parameters are set to 4.5 and 4, respectively. The number of iterations Kiter = 10, the number of GAMP runs per iteration Kgamp = 5, and the trust region length δ tr =2, algorithm noise variance τ w =1.

[0115] Optionally, to improve the accuracy of the dielectric constant estimation error, the estimation error of each dielectric constant parameter, ie, the dielectric constant parameter error, may be measured by using the mean absolute error (MAE) through multiple simulations.

[0116] Among them, the following formula can be used to determine the dielectric constant parameter error:

[0117]

[0118] Among them, mrepresents the dielectric constant parameter error. x represents the number of experiments, and X represents the error in the case of Gaussian noise. The number of experiments to collect the path loss measurement values ​​in the simulation scenario, for example, X can be 5, represents the actual value of the dielectric constant parameter m, Represents an estimate calculated from the measured road loss.

[0119] Optionally, when determining the average estimation error, the following formula may be used:

[0120]

[0121] in, is the average estimation error, M is the total number of dielectric constant parameters, m is the serial number of the dielectric constant parameter, ζ m is the dielectric constant estimation error.

[0122] It should be noted that when measuring the dielectric constant parameter error, the estimated error of the undetected dielectric constant parameter and the dielectric constant parameter with CRLB greater than cpri is almost only related to the prior distribution information. For example, the error value of the undetected dielectric constant parameter will be equal to the difference between the initial value and the true value. The value of this difference cannot effectively reflect the estimated performance of the path loss data for this parameter (i.e., the dielectric constant parameter error). For the undetected dielectric constant parameter and the dielectric constant parameter with CRLB greater than cpri, use the expected value of the prior distribution The dielectric constant parameter error is calculated for these dielectric constant parameters, where These undetected dielectric constant parameters and dielectric constant parameters with expected CRLB variance greater than cpri are also called expected invalid parameters. Their physical meaning is that compared with the parameter prior distribution variance cpri of the dielectric constant parameter itself, the dielectric constant parameters of the expected valid observed path loss data are not obtained through offline trajectory planning, otherwise they are expected valid parameters.

[0123] See also Figure 5 As shown, this is a curve chart of estimation error performance comparison. Figure 5 In the figure, the horizontal axis is the number of time slots T, and the vertical axis is the average estimation error, which shows the curves of the average estimation error determined by the embodiment of the present application and the traditional method (ie, the greedy algorithm).

[0124] In the simulation scenarios of path loss data collection with Gaussian noise σ2 = 1 and 4, respectively, the optimized trajectory with the number of time slots T and no given terminal position is used to collect path loss measurements and estimate the corresponding dielectric constant parameters. Figure 5 The offline planning of the drone trajectory starting from the starting position (0, 0, 45) is set to c max=w=100 and σ2=1, and the relationship between the average estimation error and the number of available time slots T in the greedy algorithm of the present application. Figure 5 As shown, under most available time slot numbers T, the method of the present application shows lower estimation error compared with the greedy algorithm. Since the expected invalid dielectric constant parameters are included in the calculation of the average estimation error, the overall estimation error is large.

[0125] In an embodiment of the present application, path loss data can be measured according to different device candidate trajectories, and estimated error data (i.e., estimated performance) of each dielectric constant parameter can be determined based on the measured path loss data, so that a device candidate trajectory with better estimated performance can be selected as the target device trajectory, and subsequent measurement data collection can be performed through the target device trajectory.

[0126] For example, after determining the trajectory of the target device, the trajectory of the target device can be applied to scenarios such as path loss error estimation, ray tracing simulation, path loss estimation, and wireless channel map modeling.

[0127] In one implementation, when determining the path loss error, the following steps may be used:

[0128] S2031: Determine a set of dielectric constant estimation values ​​corresponding to the target device trajectory according to the set of path loss measurement values ​​corresponding to each device candidate trajectory, the first antenna gain, the transmit power and the second antenna gain of each ground device, and the physical environment information; the set of dielectric constant estimation values ​​includes dielectric constant estimation values ​​of each dielectric constant parameter in the target measurement environment;

[0129] S2032: Determine a set of path loss estimation values ​​corresponding to the trajectory of the target device according to a set of dielectric constant estimation values ​​corresponding to the trajectory of the target device, a first antenna gain, a transmission power and a second antenna gain of the ground device, and physical environment information; the set of path loss estimation values ​​includes a plurality of estimated path losses of communication links between the target device and each ground device;

[0130] S2033: Determine a path loss estimation error according to a set of path loss estimation values ​​and a set of path loss measurement values ​​corresponding to the target device trajectory.

[0131] The following is an example of path loss estimation. Figure 6 The figure shows a curve diagram of path loss estimation error. Figure 6 The horizontal axis is the number of time slots T, and the vertical axis is the path loss estimation error. Figure 6 In the figure, curves of various path loss estimation errors calculated based on the method of the embodiment of the present application, the dielectric constant parameters of the concrete configuration, and the true value of the dielectric constant are respectively shown.

[0132] Optionally, when determining the path loss estimation error L, the following formula may be used:

[0133]

[0134] Among them, k is the serial number of the flight position of the UAV, N NLoS is the total number of flight positions, such as N NLoS It can be 3301, is the total value of the path loss measured when the UAV is at the flight position k, that is, the total value of the path loss of the communication link between the UAV and all ground equipment when it is at the flight position k. is the total estimated value of the path loss when the UAV is at the flight position k, that is, the total estimated value of the path loss of the communication link between the UAV and all ground devices when the UAV is at the flight position k.

[0135] Figure 6 As the number of time slots T increases, the path loss estimation error calculated by the method of the present application is getting closer and closer to the path loss estimation error calculated based on the real dielectric constant parameters. Because there are inherent system errors in the simulation scenario, the path loss estimation error calculated based on the real dielectric constant parameters is not zero.

[0136] Based on the same inventive concept, a trajectory planning device is also provided in the embodiment of the present application. Since the principle of solving the problem by the above-mentioned device and equipment is similar to that of a trajectory planning method, the implementation of the above-mentioned device can refer to the implementation of the method, and the repeated parts will not be repeated. The device can be applied to electronic devices. The present application does not limit the type of electronic devices. It can be any type of device suitable for implementation, such as terminal devices and servers, etc., and the present application will not repeat them.

[0137] See also Figure 7 , which is a block diagram of a trajectory planning device in an embodiment of the present application. In some embodiments, the trajectory planning device in the present application example includes:

[0138] An acquisition unit 701 is used to acquire a first antenna gain of a target device, a transmit power and a second antenna gain corresponding to each ground device in a target measurement environment, physical environment information of the target measurement environment, and a set of path loss measurement values ​​corresponding to a plurality of device candidate trajectories; each set of path loss measurement values ​​includes a path loss of a communication link between a target device moving along a corresponding device candidate trajectory and each ground device at a plurality of time points;

[0139] The determining unit 702 is used to determine a dielectric constant error set corresponding to each device candidate trajectory according to a set of path loss measurement values ​​corresponding to each device candidate trajectory, a first antenna gain, a transmit power and a second antenna gain corresponding to each ground device, and physical environment information; the dielectric constant error set includes dielectric constant estimation errors of multiple dielectric constant parameters in the target measurement environment;

[0140] The selection unit 703 is used to select a target device trajectory from each device candidate trajectory according to the dielectric constant error set corresponding to each device candidate trajectory.

[0141] In one implementation, the selection unit 703 is used to:

[0142] For each set of dielectric constant errors corresponding to the candidate device trajectory, perform the following steps until the target device trajectory is determined:

[0143] After determining the dielectric constant error set, calculating the average of each dielectric constant estimation error in the dielectric constant error set to obtain the average estimation error corresponding to the device candidate trajectory;

[0144] If it is determined that the average estimation error meets the set trajectory conditions, the device candidate trajectory is determined as the target device trajectory.

[0145] In one implementation, the selection unit 703 is used to:

[0146] Determine the average estimation error corresponding to each device candidate trajectory according to the dielectric constant error set corresponding to each device candidate trajectory;

[0147] The device candidate trajectory corresponding to the minimum value of each average estimation error is determined as the target device trajectory.

[0148] In one embodiment, the physical environment information includes: environmental geometry modeling of the target measurement environment, ray interaction information of each communication link;

[0149] Environmental geometry modeling represents the position and shape of environmental objects in the target measurement environment;

[0150] The ray interaction information includes the coordinates of the interaction points between the multiple rays of the communication link and the target measurement environment and the interaction types.

[0151] In one implementation, the path loss is a reference signal received power;

[0152] For each ground device respectively, a reference signal received power of a target communication link between the target device and the ground device is positively correlated with the first antenna gain, the second antenna gain and the transmit power of the ground device, and the path energy gain of the target communication link;

[0153] The path energy gain of the target communication link is determined based on the environment geometry modeling, the device position of the target device, the ray interaction information of the target communication link, and various dielectric constant parameters.

[0154] In one implementation, the selection unit 703 is further configured to:

[0155] Determine a dielectric constant estimation value set corresponding to the target device trajectory according to the path loss measurement value set corresponding to each device candidate trajectory, the first antenna gain, the transmission power and the second antenna gain of each ground device, and the physical environment information; the dielectric constant estimation value set includes the dielectric constant estimation value of each dielectric constant parameter in the target measurement environment;

[0156] Determine a path loss estimation value set corresponding to the target device trajectory according to a set of dielectric constant estimation values ​​corresponding to the target device trajectory, a first antenna gain, a transmission power and a second antenna gain of the ground device, and physical environment information; the path loss estimation value set includes a plurality of estimated path losses of a communication link between the target device and each ground device;

[0157] A path loss estimation error is determined based on a set of path loss estimation values ​​and a set of path loss measurement values ​​corresponding to the target device trajectory.

[0158] In one implementation, the acquiring unit 701 is further configured to:

[0159] Generate a candidate device trajectory according to at least one of the following: set a moving area, a trajectory running time range, a moving number threshold, set a moving mode, a starting position range, and an ending position range.

[0160] The trajectory planning method in the embodiment of the present application includes obtaining the first antenna gain of the target device, the transmission power and the second antenna gain corresponding to each ground device in the target measurement environment, the physical environment information of the target measurement environment, and the path loss measurement value sets corresponding to multiple device candidate trajectories; each path loss measurement value set includes the path loss of the communication link between the target device moving according to the corresponding device candidate trajectory and each ground device at multiple time points; according to the path loss measurement value set corresponding to each device candidate trajectory, the first antenna gain, the transmission power and the second antenna gain corresponding to each ground device, and the physical environment information, the dielectric constant error set corresponding to each device candidate trajectory is determined; the dielectric constant error set includes the dielectric constant estimation error of multiple dielectric constant parameters in the target measurement environment; according to the dielectric constant error set corresponding to each device candidate trajectory, the target device trajectory is selected from each device candidate trajectory. In this way, a better target device trajectory can be selected through the dielectric constant estimation error.

[0161] In an embodiment of the present application, an electronic device is provided, including:

[0162] Processor; and

[0163] The memory stores computer instructions, where the computer instructions are used to enable the processor to execute the method of any of the above embodiments.

[0164] In an embodiment of the present application, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a computer to execute a method in any of the above-mentioned embodiments.

[0165] An embodiment of the present application also provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device implements any of the above-mentioned methods.

[0166] Figure 8 FIG. 8 is a schematic diagram showing the structure of an electronic device 8000. Figure 8 As shown, the electronic device 8000 includes: a processor 8010 and a memory 8020 , and optionally, may also include a power supply 8030 , a display unit 8040 , and an input unit 8050 .

[0167] The processor 8010 is the control center of the electronic device 8000. It connects various components using various interfaces and lines, and performs various functions of the electronic device 8000 by running or executing software programs and / or data stored in the memory 8020, thereby monitoring the electronic device 8000 as a whole.

[0168] In the embodiment of the present application, the processor 8010 executes the various steps in the above embodiment when calling the computer program stored in the memory 8020.

[0169] Optionally, the processor 8010 may include one or more processing units; preferably, the processor 8010 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and applications, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor 8010. In some embodiments, the processor and the memory may be implemented on a single chip, and in some embodiments, they may also be implemented separately on separate chips.

[0170] The memory 8020 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, various applications, etc.; the data storage area may store data created according to the use of the electronic device 8000, etc. In addition, the memory 8020 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices, etc.

[0171] The electronic device 8000 also includes a power source 8030 (such as a battery) for supplying power to various components. The power source can be logically connected to the processor 8010 through a power management system, so that the power management system can manage functions such as charging, discharging, and power consumption.

[0172] The display unit 8040 may be used to display information input by a user or information provided to a user, various menus of the electronic device 8000, etc. In the embodiment of the present application, it is mainly used to display the display interface of each application in the electronic device 8000 and objects such as text and pictures displayed in the display interface. The display unit 8040 may include a display panel 8041. The display panel 8041 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc.

[0173] The input unit 8050 may be used to receive information such as numbers or characters input by the user. The input unit 8050 may include a touch panel 8051 and other input devices 8052. The touch panel 8051, also known as a touch screen, may collect user touch operations on or near it (such as operations performed by the user using a finger, a stylus, or any other suitable object or accessory on or near the touch panel 8051).

[0174] Specifically, the touch panel 8051 can detect the user's touch operation, detect the signal brought by the touch operation, convert these signals into touch point coordinates, send them to the processor 8010, and receive and execute the command sent by the processor 8010. In addition, the touch panel 8051 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. Other input devices 8052 can include but are not limited to one or more of a physical keyboard, function keys (such as volume control keys, power on / off keys, etc.), a trackball, a mouse, a joystick, etc.

[0175] Of course, the touch panel 8051 can cover the display panel 8041. When the touch panel 8051 detects a touch operation on or near it, it transmits it to the processor 8010 to determine the type of touch event, and then the processor 8010 provides corresponding visual output on the display panel 8041 according to the type of touch event. Figure 8 In the embodiment, the touch panel 8051 and the display panel 8041 are used as two independent components to implement the input and output functions of the electronic device 8000, but in some embodiments, the touch panel 8051 and the display panel 8041 can be integrated to implement the input and output functions of the electronic device 8000.

[0176] The electronic device 8000 may also include one or more sensors, such as a pressure sensor, a gravity acceleration sensor, a proximity light sensor, etc. Of course, according to the needs of specific applications, the electronic device 8000 may also include other components such as a camera. Since these components are not the key components used in the embodiments of the present application, Figure 8 It is not shown and will not be described in detail.

[0177] Those skilled in the art will understand that Figure 8 The electronic device is merely an example and does not limit the electronic device, and may include more or less components than those shown in the figure, or may combine certain components, or may include different components.

[0178] For the convenience of description, the above parts are divided into modules (or units) according to their functions and described separately. Of course, when implementing this application, the functions of each module (or unit) can be implemented in the same or multiple software or hardware.

Claims

1. A trajectory planning method, characterized in that: The method comprises: Acquire a first antenna gain of a target device, a transmit power and a second antenna gain corresponding to each ground device in a target measurement environment, physical environment information of the target measurement environment, and a set of path loss measurement values ​​corresponding to a plurality of device candidate trajectories; each set of path loss measurement values ​​includes a path loss of a communication link between a target device moving along a corresponding device candidate trajectory and each ground device at a plurality of time points; Determine a dielectric constant error set corresponding to each device candidate trajectory according to a set of path loss measurement values ​​corresponding to each device candidate trajectory, the first antenna gain, a transmit power and a second antenna gain corresponding to each ground device, and the physical environment information; the dielectric constant error set includes dielectric constant estimation errors of multiple dielectric constant parameters in the target measurement environment; According to the dielectric constant error sets corresponding to the candidate device trajectories, a target device trajectory is selected from the candidate device trajectories.

2. The method according to claim 1, characterized in that The step of selecting a target device trajectory from each of the candidate device trajectories according to the dielectric constant error sets corresponding to each of the candidate device trajectories includes: For each set of dielectric constant errors corresponding to the candidate device trajectory, the following steps are performed until the target device trajectory is determined: After determining the dielectric constant error set, calculating an average value of each dielectric constant estimation error in the dielectric constant error set to obtain an average estimation error corresponding to the device candidate trajectory; If it is determined that the average estimation error meets the set trajectory condition, the device candidate trajectory is determined as the target device trajectory.

3. The method according to claim 1, characterized in that The step of selecting a target device trajectory from each of the candidate device trajectories according to the dielectric constant error sets corresponding to each of the candidate device trajectories includes: Determine the average estimation error corresponding to each device candidate trajectory according to the dielectric constant error set corresponding to each device candidate trajectory; The device candidate trajectory corresponding to the minimum value of each average estimation error is determined as the target device trajectory.

4. The method according to any one of claims 1 to 3, characterized in that: The physical environment information includes: environmental geometry modeling of the target measurement environment, and ray interaction information of each communication link; The environmental geometric modeling represents the position and shape of environmental objects in the target measurement environment; The ray interaction information includes coordinates of interaction points and interaction types between a plurality of rays of the communication link and the target measurement environment respectively.

5. The method according to claim 4, characterized in that The path loss is the reference signal received power; For each ground device respectively, the reference signal received power of the target communication link between the target device and the ground device is positively correlated with the first antenna gain, the second antenna gain and the transmit power of the ground device, and the path energy gain of the target communication link; The path energy gain of the target communication link is determined based on the environment geometry modeling, the device position of the target device, the ray interaction information of the target communication link, and various dielectric constant parameters.

6. The method according to claim 5, characterized in that After selecting a target device trajectory from each of the candidate device trajectories according to the dielectric constant error sets corresponding to each of the candidate device trajectories, the method further includes: Determine a set of dielectric constant estimation values ​​corresponding to the target device trajectory according to a set of path loss measurement values ​​corresponding to each device candidate trajectory, the first antenna gain, the transmit power of each ground device and the second antenna gain, and the physical environment information; the set of dielectric constant estimation values ​​includes dielectric constant estimation values ​​of each dielectric constant parameter in the target measurement environment; Determine a path loss estimation value set corresponding to the target device trajectory according to a set of dielectric constant estimation values ​​corresponding to the target device trajectory, the first antenna gain, the transmission power of the ground device and the second antenna gain, and the physical environment information; the path loss estimation value set includes a plurality of estimated path losses of the communication link between the target device and each ground device; A path loss estimation error is determined according to a set of path loss estimation values ​​and a set of path loss measurement values ​​corresponding to the target device trajectory.

7. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: The candidate trajectory of the device is generated according to at least one of the following items: setting a moving area, a trajectory running time range, a moving number threshold, setting a moving mode, a starting position range, and an ending position range.

8. A trajectory planning device, characterized in that: The device comprises: An acquisition unit is used to acquire a first antenna gain of a target device, a transmit power and a second antenna gain corresponding to each ground device in a target measurement environment, physical environment information of the target measurement environment, and a set of path loss measurement values ​​corresponding to a plurality of device candidate trajectories; each set of path loss measurement values ​​includes a path loss of a communication link between a target device moving along a corresponding device candidate trajectory and each ground device at a plurality of time points; A determination unit, configured to determine a dielectric constant error set corresponding to each device candidate trajectory according to a set of path loss measurement values ​​corresponding to each device candidate trajectory, the first antenna gain, a transmit power and a second antenna gain corresponding to each ground device, and the physical environment information; the dielectric constant error set includes dielectric constant estimation errors of multiple dielectric constant parameters in the target measurement environment; The selection unit is used to select a target device trajectory from each device candidate trajectory according to a dielectric constant error set corresponding to each device candidate trajectory.

9. An electronic device, characterized in that: include: processor; as well as A memory storing computer instructions, wherein the computer instructions are used to enable the processor to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer instructions are stored, and the computer instructions are used to make a computer execute the method according to any one of claims 1 to 7.

11. A computer program product, characterized in that The invention comprises a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code is executed in a processor of an electronic device, the processor in the electronic device performs the method according to any one of claims 1 to 7.

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