CN110719596A - Base station antenna design method for greatly improving ground-air communication signal coverage quality - Google Patents
Base station antenna design method for greatly improving ground-air communication signal coverage quality Download PDFInfo
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Abstract
The invention discloses a base station antenna design method for greatly improving the ground-air communication signal coverage quality. The method is used for improving the signal coverage quality and meeting the requirements of ground-air communication aiming at the special propagation environment of the ground-air communication, and is a method for improving the electrical characteristics of a plate-shaped directional antenna. The invention has the following advantages: on one hand, the method can meet the networking structure requirement of a cellular network, and simultaneously solves the technical problems that the vertical lobe of the existing ground base station antenna is declined, the vertical lobe has a large number of zero points, the width of the vertical lobe is too narrow, and the gain at the top of the antenna is seriously sunk, so that the method has strong practical value and practical significance.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a base station antenna design method for greatly improving the ground-air communication signal coverage quality.
Background
An antenna is an electronic device for radiating radio wave energy, and is a key network element and device in a wireless communication system. For mobile communication systems, from 2G to 5G mobile communication systems currently being deployed, the mobile communication requirements of terrestrial users are successfully solved. As the base station antenna, which is a key device of a mobile communication system, is developed, technology updating is also continuously performed. From the earliest whip omnidirectional antenna, to the plate-shaped single-polarized directional antenna, the dual-polarized directional antenna, to the broadband antenna, the multi-frequency antenna, and then the split beam antenna and the beam-forming antenna, no matter how the base station antenna is developed, and how the technology and the form of the antenna are changed, the current mobile communication base station antenna aims to cover the users on the ground.
The top and the bottom of the existing antenna are the places with the worst antenna gain, and if the gain depression of the top of the antenna is too deep, the empty coverage causes weak coverage of the top area of the antenna, and a coverage hole or the problem that signals of adjacent cells cover the cross-zone coverage of the top of the cell occurs.
With the increasing demand, mobile communications are evolving from ground coverage to air. The current demand comes from two aspects:
unmanned aerial vehicle communication of flying height below 3000 meters.
ATG communication of civil aviation passenger plane of 6000 meters to 1.2 kilometers.
It is not feasible to directly serve the terrestrial mobile communication system for the empty coverage, and there are various technical obstacles, one of which is some electrical characteristics of the terrestrial base station antenna, especially the form of the lobe is not suitable for the empty coverage. Fig. 1 is a lobe diagram of the horizontal and vertical planes of a typical terrestrial base station antenna, i.e. the gain values in each direction of 360 degrees in a certain plane of the antenna. From the lobe diagram of the antenna in fig. 1, when the base station antenna is erected at a certain height and radiates to the ground, the requirement for ground coverage can be met, and when the antenna is used for empty coverage, the vertical lobe is declined, energy radiates to the ground, an aerial signal is weak, coverage is poor, the vertical lobe has a large number of zero points, namely points with extremely low antenna gain, when the antenna covers the ground, the zero points exist and are not obviously affected, the ground has a large number of ground objects and buildings, signals can be reflected and scattered, the zero points are filled, and no obvious effect is generated on ground users.
The width of a vertical lobe of the conventional antenna is too narrow, so that the conventional antenna is not beneficial to simultaneously covering different heights, and the narrow bandwidth of the vertical lobe indicates that the directivity of the antenna is strong, so that the antenna is advantageous for a ground antenna, the energy radiation direction is convenient to control, the interference to adjacent regions is reduced, in addition, only one surface is covered on the ground, and the requirements of different heights do not exist. However, the requirement for empty coverage is usually a spatial coverage, too narrow a vertical lobe width, which is not favorable for simultaneously covering different heights.
The top gain of the existing antenna is sunken seriously, the top and the bottom of the antenna are the places with the worst gain, and the phenomenon of dark under the lamp can be generated in the open area of the ground, and the problem is not serious for a ground network because of the reflection and scattering of ground buildings and buildings; however, the empty coverage causes weak coverage of the antenna top area, coverage holes or the problem that signals of adjacent cells cover the cross-zone coverage of the top of the cell occurs.
Theoretical analysis and actual tests prove that when the base station antenna is directly used for the air, the problems of poor air overall signal quality, discontinuous coverage, a large number of call drop points in the middle, large coverage difference at different heights, overhead call drop and cross-zone coverage can occur.
Fig. 2 shows simulation results of a 100km coverage range at a height of 1 km for an application of empty coverage, in which a typical terrestrial base station antenna is set to have a mechanical tilt angle of 7 degrees upward.
From the effect of the simulation of fig. 2, a large number of zeros and depressions at the top appear, so that there is weak signal and discontinuous coverage in the central area (0-30km) of the coverage base station. The problems existing in the prior mobile communication network base station antenna for the empty coverage seriously influence the development of the mobile communication technology to the empty coverage,
currently, the networks for ground-air communication include two types: the internet unmanned aerial vehicle communication and the ATG communication of civil aviation passenger plane, internet unmanned aerial vehicle network communication structure, shown in figure 3, are to the large-scale unmanned aerial vehicle of industrial use, through the network of deploying the honeycomb on the ground, provide the communication service of long distance, high-speed control signal and video passback to unmanned aerial vehicle, for example the unmanned aerial vehicle of electric power and oil patrols the line, the unmanned aerial vehicle of logistics industry delivers goods application.
As shown in fig. 4, the structure of the ATG communication network for civil aviation is to deploy a cellular base station network on the ground for the communication demand of users in the passenger plane of civil aviation, install airborne equipment and Wifi hot spots on the passenger plane of civil aviation, and use the ATG network as backhaul, thereby realizing internet surfing and communication of users in the cabin of the aircraft. Compared with the satellite communication mode, the ATG has obvious performance and price advantages. Although the data link network of the unmanned aerial vehicle and the ATG network of the civil aircraft are very similar in network structure, the unmanned aerial vehicle and the civil aircraft are different in flight altitude, speed and data transmission requirements, the ground-air communication networks of the unmanned aerial vehicle and the civil aircraft cannot be the same network, and the ground-air communication network cannot be directly reused.
As shown in fig. 3 and 4, in terms of network structures of an unmanned aerial vehicle data link network and an ATG network of a civil aircraft, a ground base station antenna is an important device, and is a key to determine whether network coverage is continuous, whether quality meets a standard, and whether three-dimensional coverage can be achieved. As analyzed by the prior art, the base station antenna of the existing ground mobile network cannot be directly used for empty coverage, and the mature empty antenna of other systems such as radar and remote sensing cannot meet the requirement of cellular network networking, so that a novel antenna needs to be invented, on one hand, the requirement of the networking structure of the cellular network is met, and simultaneously the following problems existing in the empty coverage of the existing ground base station antenna are also overcome:
1. the vertical lobe is declined;
2. the vertical lobe has a large number of nulls;
3. the vertical lobe width is too narrow;
4. the antenna top gain depression is severe.
Disclosure of Invention
The present invention is directed to a method for designing a base station antenna capable of greatly improving the signal coverage quality of the ground-air communication, which is directed to a special propagation environment for the ground-air communication, and is capable of meeting the requirements of the ground-air communication and improving the electrical characteristics of a plate-shaped directional antenna.
The method comprises the following steps:
step 1, determining a working center frequency point and a bandwidth of an antenna of an ATG base station according to a frequency band and a bandwidth deployed by an ATG system.
Step 2, setting the vertical lobe of the antenna to be upward inclined, and enabling the energy of the antenna to be radiated to the air by the upward inclined vertical lobe, so that the requirement for air coverage is met:
step 2.1, configuring the electric tilt-up angle to be 6 degrees;
and 2.2, when network deployment is carried out, the inclination angle of the antenna is related to the broadband, the coverage distance and the height of a vertical lobe of the antenna, and the final required upward inclination angle is realized in an electric inclination and mechanical inclination mode.
Step 3, filling zero points in the vertical lobe of the antenna, and filling the zero points in the side lobe of the antenna to ensure that no zero point exists in the horizontal lobe and the vertical lobe of the antenna:
step 3.1, the vertical lobe has great continuous and stable influence on signals in the cell, and the antenna lobe is more round and smooth through lobe zero filling on the vertical lobe;
and 3.2, reducing the antenna gain requirement to reduce the zero point.
And 4, increasing the vertical lobe width of the antenna, wherein the lobe width is determined by a half-power angle (also called 3dB angle):
step 4.1, the vertical half-power angle of the common ground antenna is 7 degrees;
and 4.2, configuring the width of a vertical lobe of a base station antenna of the antenna space communication network to be between 20 and 25 degrees.
And 5, performing gain filling on the top of the antenna: filling lobes at the top of the antenna, and obliquely placing the array to enhance the gain at the top of the antenna, wherein the gain right above the antenna with the inclination angle is not less than-10 dBi.
Step 6, for a ground-air communication network, two application scenes exist for the communication of an internet unmanned aerial vehicle and the ATG communication of a civil aircraft, wherein one application scene only covers a linear area through which a route passes, and the other application scene is continuous planar area coverage without distinguishing the route:
step 6.1, for linear area coverage, configuring the horizontal lobe width of the antenna to 35 degrees, and mounting two antennas at each station back to back during deployment;
and 6.2, for the planar area coverage, splicing the cell coverage according to the honeycomb shape, adjusting the horizontal lobe width of the antenna to 65 degrees, configuring 3 pairs of antennas at each station during deployment, and enabling the included angle of the azimuth angle of the antenna to be 120 degrees.
Step 7, after the horizontal and vertical lobe widths of the antenna are determined, the gain of the antenna is also determined, the set vertical lobe width of the antenna is 25 degrees, the horizontal widths of the antenna are two, the horizontal beam width of the linear covered narrow beam antenna is 35 degrees, and the horizontal beam width of the planar covered wide beam antenna is 65 degrees; the maximum gain of the linear covered narrow beam antenna is 15dBi, and the maximum gain of the planar covered wide beam antenna is 12 dBi.
Step 8, optimizing the standing-wave ratio:
step 8.1, optimally designing the parameters of the antenna structure, the size, the loading and the broadband matching network;
step 8.2, optimizing the antenna by adopting a genetic algorithm, and constructing an optimally calculated feed network insertion loss objective function equation by using the phase, the standing wave ratio and the gain, wherein the equation is shown in a formula (1):
in the above formula (1): f is the insertion loss of the antenna feed network, fi (i ═ 1, 2, …, N) represents the N frequency points in the band, vswr (fi) and G (fi) represent the standing wave ratio and gain of the antenna at frequency fi, respectively, G (fi) represents the standing wave ratio and gain of the antenna at frequency fi0For nominal gain, λ is a tuning parameter for broadband antenna impedanceBalancing the characteristic and the gain characteristic, wherein Wi is a weighted value of standing-wave ratio at different frequency points; the value of Wi is determined by the relative importance degree of VSWR (fi), namely, good standing wave ratio is protected and bad standing wave ratio is punished; as an objective function of the insertion loss of the antenna feed network, the smaller the value is, the better the value is, so that the energy lost on the feed network is smaller, the more the energy radiated by the antenna is, and the higher the efficiency of the antenna is; the variable parameters of the objective function are more, the calculation time of the common iterative algorithm is too long, the combination cross and variation are carried out according to the chromosome sequencing principle of the genetic algorithm and based on the survival and the excellence and decline of the fittest, and a better and better approximate solution is generated by generation-by-generation evolution;
step 8.3, measuring the input impedance value of the antenna structure through a vector network analyzer, and optimally designing a proper broadband matching network by using software; the element values of the optimized matching network are adjusted experimentally, and the standing-wave ratio of the antenna in the working frequency band is less than 1.5.
The method has the following advantages:
the method of the invention can meet the networking structure requirement of the cellular network.
The method solves the technical problems that the vertical lobe of the existing ground base station antenna is declined in the empty coverage, the vertical lobe has a large number of zero points, the width of the vertical lobe is too narrow, and the gain at the top of the antenna is seriously depressed.
Drawings
Figure 1 is a lobe diagram of the horizontal and vertical planes of a prior art terrestrial base station antenna;
FIG. 2 is a diagram illustrating simulation results of a typical prior art terrestrial base station antenna for a coverage of 100km at a height of 1 km;
fig. 3 is a network communication structure diagram of a conventional networked unmanned aerial vehicle;
FIG. 4 is a block diagram of an existing ATG communication network for civil aviation;
FIG. 5 is a schematic diagram of gain compensation at the top of an antenna by using a special array for oblique placement in the method of the present invention;
FIG. 6 is a lobe pattern of an open coverage base station antenna for the 2.6GHz band customized according to the method of the present invention;
fig. 7 is a schematic diagram of simulation results of the antenna designed by the method of the present invention for empty coverage.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The method comprises the following steps:
step 1, determining a working center frequency point and a bandwidth of an antenna of an ATG base station according to a frequency band and a bandwidth deployed by an ATG system.
Step 2, setting the vertical lobe of the antenna to be upward inclined, and enabling the energy of the antenna to be radiated to the air by the upward inclined vertical lobe, so that the requirement for air coverage is met:
step 2.1, configuring the electric tilt-up angle to be 6 degrees;
and 2.2, when network deployment is carried out, the inclination angle of the antenna is related to the broadband, the coverage distance and the height of a vertical lobe of the antenna, and the final required upward inclination angle is realized in an electric inclination and mechanical inclination mode.
Step 3, filling zero points in the vertical lobe of the antenna, and filling the zero points in the side lobe of the antenna to ensure that no zero point exists in the horizontal lobe and the vertical lobe of the antenna:
step 3.1, the vertical lobe has great continuous and stable influence on signals in the cell, and the antenna lobe is more round and smooth through lobe zero filling on the vertical lobe;
and 3.2, reducing the antenna gain requirement to reduce the zero point.
And 4, increasing the vertical lobe width of the antenna, wherein the lobe width is determined by a half-power angle (also called 3dB angle):
step 4.1, the vertical half-power angle of the common ground antenna is 7 degrees;
and 4.2, configuring the width of a vertical lobe of a base station antenna of the antenna space communication network to be between 20 and 25 degrees.
And 5, performing gain filling on the top of the antenna: filling lobes at the top of the antenna, and obliquely placing the array to enhance the gain at the top of the antenna, wherein the gain right above the antenna with the inclination angle is not less than-10 dBi.
Step 6, for a ground-air communication network, two application scenes exist for the communication of an internet unmanned aerial vehicle and the ATG communication of a civil aircraft, wherein one application scene only covers a linear area through which a route passes, and the other application scene is continuous planar area coverage without distinguishing the route:
step 6.1, for linear area coverage, configuring the horizontal lobe width of the antenna to 35 degrees, and mounting two antennas at each station back to back during deployment;
and 6.2, for the planar area coverage, splicing the cell coverage according to the honeycomb shape, adjusting the horizontal lobe width of the antenna to 65 degrees, configuring 3 pairs of antennas at each station during deployment, and enabling the included angle of the azimuth angle of the antenna to be 120 degrees.
Step 7, after the horizontal and vertical lobe widths of the antenna are determined, the gain of the antenna is also determined, the set vertical lobe width of the antenna is 25 degrees, the horizontal widths of the antenna are two, the horizontal beam width of the linear covered narrow beam antenna is 35 degrees, and the horizontal beam width of the planar covered wide beam antenna is 65 degrees; the maximum gain of the linear covered narrow beam antenna is 15dBi, and the maximum gain of the planar covered wide beam antenna is 12 dBi.
Step 8, optimizing the standing-wave ratio:
step 8.1, optimally designing the parameters of the antenna structure, the size, the loading and the broadband matching network;
step 8.2, optimizing the antenna by adopting a genetic algorithm, and constructing an optimally calculated feed network insertion loss objective function equation by using the phase, the standing wave ratio and the gain, wherein the equation is shown in a formula (1):
in the above formula (1): f is the insertion loss of the antenna feed network, fi (i ═ 1, 2, …, N) represents the N frequency points in the band, vswr (fi) and G (fi) represent the standing wave ratio and gain of the antenna at frequency fi, respectively, G (fi) represents the standing wave ratio and gain of the antenna at frequency fi0For nominal gain, λ is a tuning parameter,the antenna impedance broadband characteristic and the gain characteristic are balanced, and Wi is a weighted value of standing-wave ratios at different frequency points; the value of Wi is determined by the relative importance degree of VSWR (fi), namely, good standing wave ratio is protected and bad standing wave ratio is punished; as an objective function of the insertion loss of the antenna feed network, the smaller the value is, the better the value is, so that the energy lost on the feed network is smaller, the more the energy radiated by the antenna is, and the higher the efficiency of the antenna is; the variable parameters of the objective function are more, the calculation time of the common iterative algorithm is too long, the combination cross and variation are carried out according to the chromosome sequencing principle of the genetic algorithm and based on the survival and the excellence and decline of the fittest, and a better and better approximate solution is generated by generation-by-generation evolution;
step 8.3, measuring the input impedance value of the antenna structure through a vector network analyzer, and optimally designing a proper broadband matching network by using software; the element values of the optimized matching network are adjusted experimentally, and the standing-wave ratio of the antenna in the working frequency band is less than 1.5.
The base station antenna meeting the ground-air communication requirement can be designed through the steps of the method.
Fig. 5 shows that in the antenna design process, in order to solve the problem that the antenna top zero point is too deep, a special array is used for inclined placement to enhance the gain of the antenna top.
Fig. 6 is a lobe diagram of an open coverage base station antenna of 2.6GHz band customized according to the method of the present invention, and it can be seen from the lobe diagram that the horizontal lobe width of the antenna is 65 degrees, the vertical lobe width is 25 degrees, and there is an electric tilt of 6 degrees. The vertical upper lobe of the antenna is round and smooth without a deep zero point; the antenna top is also well filled, a top coverage hole is avoided, the problem of empty coverage of a common base station antenna is completely solved, and a good empty coverage effect can be realized.
Fig. 7 is a simulation result of the antenna open coverage of the invention by a planning simulation tool, wherein the base station antenna is set to have a mechanical tilt angle of 7 degrees, a flying height of 1 kilometer, and a coverage range of 100 km.
From the result of coverage simulation, it can be found by comparing the empty coverage effect of the ordinary base station antenna in fig. 2 that the antenna designed by the method of the present invention has continuous and stable coverage from the center to the edge of the cell, the quality of the signal from the top of the station to the edge of the cell meets the expected requirement, and a good and reliable antenna guarantee can be provided for empty coverage networking.
The networked unmanned aerial vehicle and the civil aviation ATG network are built in different scenes, the adopted frequency bands and bandwidths are different, and the method is a design principle and a technical scheme of the electrical characteristics of an aerial networking base station antenna; in the process of constructing the ground-air network, when the frequency band and the bandwidth are determined, the aerial product of the aerial coverage base station with specific requirements can be realized by the conventional half-wave array, the feed network, the reflector plate aerial design and the technical means according to the method of the invention.
Based on the technical scheme of the method, 2.6GHz air coverage antenna products are customized according to the frequency band determined by deployment and are actually deployed in a communicated and petroleum cooperative unmanned aerial vehicle line patrol network project, 13 stations are selected in the deployment process, two customized unmanned aerial vehicle base station antennas are installed at each station, azimuth angles and upper inclination angles are planned, and the coverage effect is good through actual flight tests, so that expected requirements are met.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the present disclosure should be covered within the scope of the present invention claimed in the appended claims.
Claims (6)
1. A base station antenna design method for greatly improving the ground-air communication signal coverage quality is characterized by comprising the following steps:
step 1, determining a working center frequency point and a bandwidth of an antenna of an ATG base station according to a frequency band and a bandwidth deployed by an ATG system;
step 2, setting the vertical lobe of the antenna to be upwards inclined, and enabling the energy of the antenna to be radiated to the air by the upwards inclined vertical lobe so as to meet the requirement on air coverage;
step 3, filling zero points of the vertical lobes of the antenna, and filling the zero points of the side lobes of the antenna to ensure that zero points do not exist in the horizontal lobes and the vertical lobes of the antenna;
step 4, increasing the vertical lobe width of the antenna, wherein the lobe width is determined by a half-power angle;
and 5, performing gain filling on the top of the antenna: filling lobes at the top of the antenna, and obliquely placing an array to enhance the gain at the top of the antenna, wherein the gain right above the antenna with an inclination angle is not less than-10 dBi;
step 6, for a ground-air communication network, two application scenes exist for the communication of the networked unmanned aerial vehicle and the ATG communication of the civil aircraft, wherein one application scene only covers a linear area through which a route passes, and the other application scene is continuous planar area coverage without distinguishing the route;
step 7, after the horizontal and vertical lobe widths of the antenna are determined, the gain of the antenna is also determined, the set vertical lobe width of the antenna is 25 degrees, the horizontal widths of the antenna are two, the horizontal beam width of the linear covered narrow beam antenna is 35 degrees, and the horizontal beam width of the planar covered wide beam antenna is 65 degrees; the maximum gain of the narrow beam antenna covered in a linear mode is 15dBi, and the maximum gain of the wide beam antenna covered in a planar mode is 12 dBi;
and 8, optimizing the standing-wave ratio.
2. The method as claimed in claim 1, wherein the step 2 comprises the steps of:
step 2.1, configuring the electric tilt-up angle to be 6 degrees;
and 2.2, when network deployment is carried out, the inclination angle of the antenna is related to the broadband, the coverage distance and the height of a vertical lobe of the antenna, and the final required upward inclination angle is realized in an electric inclination and mechanical inclination mode.
3. The method as claimed in claim 1, wherein the step 3 comprises the steps of:
step 3.1, the vertical lobe has great continuous and stable influence on signals in the cell, and the antenna lobe is more round and smooth through lobe zero filling on the vertical lobe;
and 3.2, reducing the antenna gain requirement to reduce the zero point.
4. The method as claimed in claim 1, wherein the step 4 comprises the steps of:
step 4.1, the vertical half-power angle of the common ground antenna is 7 degrees;
and 4.2, configuring the width of a vertical lobe of a base station antenna of the antenna space communication network to be between 20 and 25 degrees.
5. The method as claimed in claim 1, wherein the step 6 comprises the steps of:
step 6.1, for linear area coverage, configuring the horizontal lobe width of the antenna to 35 degrees, and mounting two antennas at each station back to back during deployment;
and 6.2, for the planar area coverage, splicing the cell coverage according to the honeycomb shape, adjusting the horizontal lobe width of the antenna to 65 degrees, configuring 3 pairs of antennas at each station during deployment, and enabling the included angle of the azimuth angle of the antenna to be 120 degrees.
6. The method as claimed in claim 1, wherein the step 8 comprises the steps of:
step 8.1, optimally designing the parameters of the antenna structure, the size, the loading and the broadband matching network;
step 8.2, optimizing the antenna by adopting a genetic algorithm, and constructing an optimally calculated feed network insertion loss objective function equation by using the phase, the standing wave ratio and the gain, wherein the equation is shown in a formula (1):
in the above formula (1): f is the insertion loss of the antenna feed network, fi (i ═ 1, 2, …, N) represents the N frequency points in the band, vswr (fi) and G (fi) represent the standing wave ratio and gain of the antenna at frequency fi, respectively, G (fi) represents the standing wave ratio and gain of the antenna at frequency fi0λ is a regulating parameter for balancing between the broadband characteristic and the gain characteristic of the antenna impedance, and Wi is a weighted value of standing-wave ratios at different frequency points; the value of Wi is determined by the relative importance degree of VSWR (fi), namely, good standing wave ratio is protected and bad standing wave ratio is punished; as an objective function of the insertion loss of the antenna feed network, the smaller the value is, the better the value is, so that the energy lost on the feed network is smaller, the more the energy radiated by the antenna is, and the higher the efficiency of the antenna is; the variable parameters of the objective function are more, the calculation time of the common iterative algorithm is too long, the combination cross and variation are carried out according to the chromosome sequencing principle of the genetic algorithm and based on the survival and the excellence and decline of the fittest, and a better and better approximate solution is generated by generation-by-generation evolution;
step 8.3, measuring the input impedance value of the antenna structure through a vector network analyzer, and optimally designing a proper broadband matching network by using software; the element values of the optimized matching network are adjusted experimentally, and the standing-wave ratio of the antenna in the working frequency band is less than 1.5.
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| CN113645641A (en) * | 2021-08-11 | 2021-11-12 | 北京邮电大学 | Method for configuring air-ground user coexisting unmanned aerial vehicle network air antenna parameters |
| CN114423016A (en) * | 2021-12-30 | 2022-04-29 | 中国电信股份有限公司 | Method and device for determining planning parameters of base station |
| CN117195738A (en) * | 2023-09-27 | 2023-12-08 | 广东翼景信息科技有限公司 | Base station antenna setting and upper dip angle optimizing method for unmanned aerial vehicle corridor |
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