3D欧拉角定向控制用于海事空对海通信中的双射线衰落缓解
3D Euler-Angle Orientation Control for Two-Ray Fading Mitigation in Maritime Air-to-Sea Communications
- Mohammed VI Polytechnic University（穆罕默德六世理工大学）
- Ricerca sul Sistema Energetico S.p.A.（能源系统研究公司）
- Czech Technical University in Prague（捷克理工大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出利用无人机三维姿态作为控制变量，通过天线相位中心位移缓解海事空对海通信中的双射线衰落，采用闭式姿态候选和NMPC跟踪，实现吞吐量提升11.4%至22.2%。
AI中文摘要：
海事空对海链路主要由视距射线和海面反射射线主导，这两条射线的破坏性组合会产生深度衰落。现有的缓解策略优化无人机的位置或轨迹，但未利用姿态。本文将完整的三维姿态视为物理层控制变量，通过天线相位中心位移来塑造双射线干涉。在小角度和远场假设下，相长干涉条件简化为欧拉角的仿射约束，并允许闭式的最小范数姿态候选族。可微的软最小规则产生平滑参考，由全驱动倾斜多旋翼上的约束非线性模型预测控制控制器跟踪。所提出的方案相比仅俯仰基准将累计吞吐量提高了11.4%，相比零定向基线提高了22.2%，同时保持轨迹跟踪并遵守执行器限制。
英文摘要：
Maritime Air-to-Sea links are dominated by a line-of-sight ray and a sea-surface reflected ray whose destructive combination produces deep fades. Existing mitigation strategies optimize Unmanned Aerial Vehicle position or trajectory but leave attitude unexploited. This paper treats the full three dimensional attitude as a physical-layer control variable that shapes the two-ray interference through antenna phase-center displacement. Under small-angle and far-field assumptions, the constructive-interference condition reduces to an affine constraint in the Euler angles and admits a closed-form family of minimum-norm attitude candidates. A differentiable soft-minimum rule yields a smooth reference tracked by a constrained Nonlinear Model Predictive Control controller on a fully-actuated tilting multirotor. The proposed scheme increases cumulative throughput by 11.4% over a pitch-only benchmark and 22.2% over a zero-orientation baseline, while preserving trajectory tracking and respecting actuator limits.
