发表机构
The Hong Kong University of Science and Technology; Southern University of Science and Technology; Chongqing University of Posts and Telecommunications; Beihang University（香港科技大学; 南方科技大学; 重庆邮电大学; 北京航空航天大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出一种动力学一致的轨迹与姿态协同设计方法，通过显式建模加速度引起的姿态变化并利用MM算法优化，在满足隐蔽约束下最大化旋翼无人机隐蔽通信的平均可达速率，数值验证了其有效性。
AI 中文摘要
现有的无人机（UAV）隐蔽通信轨迹设计通常依赖于质点运动学，忽略了飞行机动与天线指向之间的内在耦合。受近期将无人机加速度与姿态联系起来的研究启发，我们研究了旋翼无人机隐蔽通信中动力学一致的轨迹与姿态协同设计。我们考虑一架配备定向天线的无人机，在存在监听者的情况下向合法地面接收机传输机密信息。我们显式建模了加速度引起的无人机降阶姿态及其对姿态相关定向信道增益的影响。为确保隐蔽性，我们基于监听者处的Kullback-Leibler（KL）散度推导了每时隙约束。随后，我们构建了一个联合轨迹与姿态优化问题，以在隐蔽性、运动、推力幅度、姿态平滑性以及由滚转和俯仰限制引起的加速度域安全约束下最大化平均可达隐蔽速率。由于信道增益同时依赖于位置、加速度和姿态，该问题是非凸的。为解决该问题，我们开发了一种基于minorization-maximization（MM）的算法，该算法在每次迭代中构造传输速率的凹下界和隐蔽约束的凸上界。我们进一步将该框架扩展到不完美姿态控制情形，并针对由执行器限制、传感器噪声和控制延迟引起的姿态跟踪误差开发了鲁棒设计。数值结果证明了所提出的动力学一致设计的有效性，并强调了联合优化无人机轨迹和姿态对隐蔽通信的益处。
英文摘要
Existing trajectory designs for covert communications with uncrewed aerial vehicles (UAVs) typically rely on point-mass kinematics, which overlook the inherent coupling between flight maneuvers and antenna orientation. Motivated by recent studies linking UAV acceleration to attitude, we investigate dynamics-consistent trajectory and attitude co-design for rotary-wing UAV covert communications. We consider a UAV equipped with a directional antenna transmitting confidential information to a legitimate ground receiver in the presence of a warden. The acceleration-induced reduced attitude of the UAV is explicitly modeled together with its impact on the attitude-dependent directional channel gain. To ensure covertness, we derive a per-slot constraint based on the Kullback--Leibler (KL) divergence at the warden. We then formulate a joint trajectory and attitude optimization problem to maximize the average achievable covert rate subject to covertness, motion, thrust-magnitude, attitude-smoothness, and acceleration-domain safety constraints induced by roll and pitch limits. The resulting problem is non-convex because the channel gains depend jointly on position, acceleration, and attitude. To solve it, we develop a minorization--maximization (MM)-based algorithm that constructs a concave lower bound on the transmission rate and a convex upper bound on the covert constraint at each iteration. We further extend the framework to imperfect attitude control and develop a robust design against attitude tracking errors caused by actuator limitations, sensor noise, and control delays. Numerical results demonstrate the effectiveness of the proposed dynamics-consistent design and highlight the benefit of jointly optimizing UAV trajectory and attitude for covert communications.
Comments13 pages, 8 figures. Submitted to an IEEE journal
