CN113596856B - Ground-to-air void-free cooperative coverage method based on triangulation optimization - Google Patents
Ground-to-air void-free cooperative coverage method based on triangulation optimization Download PDFInfo
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Abstract
A ground-to-air hole-free cooperative coverage method based on triangulation optimization comprises the following steps: obtaining a base station position set by adopting a general ink Karl projection mode; constructing a three-dimensional low-altitude signal coverage area; performing triangulation on a three-dimensional low-altitude signal coverage area; calculating the signal coverage volume of each triangular prism area; the height of each base station sector coverage is adjusted. The invention constructs a three-dimensional low-altitude signal coverage area, and overcomes the problem that the prior art can not cover an aerial user terminal, so that the invention realizes three-dimensional coverage of signals; the coverage height of each base station sector is adjusted to enable the signal coverage volume of each triangular prism area to achieve the optimization target, the problems that the coverage of a low-altitude user terminal is poor and the network coverage rate is possibly deteriorated in the prior art are solved, and the method and the device realize the non-cavity cooperative coverage of the three-dimensional low-altitude area.
Description
Technical Field
The invention belongs to the technical field of communication, and further relates to a ground-to-air hole-free cooperative coverage method based on triangulation optimization in the technical field of wireless communication. The invention can be used for realizing the non-hole cooperative coverage of the low-altitude signals by utilizing at least three base stations.
Background
In conventional mobile cellular networks, signal coverage is provided by base stations distributed throughout the area radiating electromagnetic waves through antennas towards the ground. Depending on the configuration, each base station covers a specific area around its location, and the size of the area is affected by the base station transmitting power, the antenna tilt angle, the carrier frequency, the deployment type of the base station and the surrounding environment, such as mountains, hills, buildings, trees, etc. affect the service area of the base station. With the development of wireless communication technology and the rise of various services, the user terminal starts to switch from the traditional ground distribution to the ground and low-level distribution, and the traditional base station coverage optimization algorithm rarely considers the problem of signal coverage of the ground base station to the low level. Therefore, in a three-dimensional network topology scene, how the ground base stations cooperate to cover the low-altitude signals needs to be considered.
Guangxi electric network Limited liability company provides a method for optimizing network coverage according to a network coverage in a patent document applied by Guangxi electric network Limited liability company, namely a method for constructing a cellular network coverage based on adaptive triangulation induced interpolation (application number: CN 202011108077.2, application publication number: CN 112333730A). The method mainly comprises the following steps: (1) initializing a target area and defining a function representing an overlay; (2) dividing the target area into a high density area and a low density area; (3) performing grid sampling in the low-density area and the high-density area; (4) performing Delaunay triangulation division on a target area; (5) calculating the boundaries of the covered areas and the uncovered areas of the sub-triangles; (6) calculating a sub-triangle coverage area, and obtaining the coverage area by using a union set of the sub-triangle coverage areas; (7) and performing site optimization network coverage optimization according to the coverage map. The method has the following defects: when the site optimization network coverage optimization is carried out according to the coverage map, only the coverage of the base station on the ground user terminal is considered, and the low-altitude user terminal in a network scene is not considered; therefore, in actual network engineering, the service can be provided for the low-altitude user terminal only by scattering a very small part of the coverage ground signal, and the non-hole cooperative coverage of all low-altitude areas cannot be realized.
The patent document "communication network coverage optimization method and apparatus" (application number: CN 201911351435.X, application publication number: CN 113038487 a) applied by the china telecommunication corporation of telecommunication corporation provides a method for optimizing network coverage by adjusting the direction angle of a cell antenna. The method comprises the following steps: (1) acquiring the number of users and the antenna arrival angle AOA in each coverage area in a cell and reference signal received power RSRP according to a measurement report sent by a user terminal in the cell; (2) according to the obtained AOA, selecting the AOA of the coverage area with the largest number of users as a first azimuth angle f1(ii) a (3) Determining the coverage strength of each coverage area according to the received RSRP, and selecting the AOA of the coverage area with the minimum coverage strength as a second azimuth angle f2(ii) a (4) According to the service requirements of the communication networkDetermining a first azimuth angle f1Weight K of1And a second azimuth angle f2Weight K of2(ii) a (5) According to K1*f1And K2*f2And determining the optimal azimuth angle of the base station antenna in the cell, and adjusting the azimuth angle of the base station antenna according to the optimal azimuth angle. The method has two defects: first, the method requires real-time network information in a cell, such as an antenna arrival angle AOA corresponding to a coverage area with the largest number of users and RSRP of each user, which is generally difficult to implement in an actual communication network. Secondly, due to the dynamic property of the current network, the antenna angle adjustment strategy obtained aiming at the network information at a certain moment is changed at the moment when the strategy is executed, and the executed strategy is not suitable for the network at the moment; therefore, the network coverage based on this method may be deteriorated.
Royal jelly proposed a signal coverage method for multi-drone base station deployment in its published paper, "cover deployment method for drone airborne base stations" study (the university of western ann, master paper, 2020). The method mainly comprises the following steps: (1) modeling an air-to-ground channel model of an unmanned aerial vehicle base station and a ground user; (2) deploying a certain number of unmanned aerial vehicle base stations randomly by using an unmanned aerial vehicle base station network coverage method based on relative distance; (3) on the basis of considering user load capacity, an unmanned aerial vehicle base station three-dimensional deployment method based on cyclic k-means is provided. The method has the following defects: in the method, a rotary wing unmanned aerial vehicle carrying base station is used as an aerial base station, and the aerial base station of the unmanned aerial vehicle is often high in dynamic performance, so that a communication link between the base station and a user terminal is unstable, and the communication quality is poor; meanwhile, the unmanned gyroplane is provided with a battery system, so that the energy is limited, and the cruising time is limited; therefore, the method proposed by the paper cannot meet the requirement of continuous and stable hole-free signal coverage for low-altitude user terminals.
Disclosure of Invention
The invention aims to provide a ground-to-air hole-free cooperative coverage method based on triangulation optimization, aiming at overcoming the defects of the prior art, and solving the problems that the prior art cannot realize good coverage on all low-to-air areas, the network coverage rate may be deteriorated, and continuous and stable signal coverage cannot be provided for low-to-air user terminals.
In order to achieve the purpose, the idea of the invention is to construct a three-dimensional coverage area of a three-dimensional polygon with an irregular polygon as a bottom surface and a high H, wherein the H is less than or equal to 3000 m and is determined by the distribution height of a low-altitude user terminal, so that the coverage range of the invention is widened from two dimensions to three dimensions. The signal coverage volume of each triangular prism area is maximized by triangulating the low-altitude three-dimensional area and adjusting the coverage height of each base station sector, so that the signal coverage volume of the high-H three-dimensional coverage area is maximized, and the invention can realize non-cavity cooperative coverage of the whole low-altitude area. The height covered by each base station sector is kept unchanged after the adjustment is finished, so that the signal coverage volume of the three-dimensional coverage area with the height H is unchanged, and the coverage rate of the invention is a constant value. Each base station is powered by a special power grid, and the energy is not limited, so that the invention can realize continuous and stable signal coverage for the low-altitude user terminal.
In order to achieve the purpose, the technical scheme of the invention comprises the following steps:
(1) obtaining a base station position set by adopting a general Mokaer projection mode;
(2) constructing a three-dimensional low-altitude signal coverage area:
constructing a three-dimensional low-altitude signal coverage area of a three-dimensional polygon prism with an irregular polygon as a bottom surface and H as a height, wherein the irregular polygon is an external polygon formed by connecting all base station positions to be covered on the borderline in a base station position set, H is less than or equal to 3000 m, and the value of H is determined by the distribution height of a low-altitude user terminal;
(3) carrying out triangulation on a three-dimensional low-altitude signal coverage area:
(3a) performing Delaunay triangulation on the base station position set, and dividing the bottom surface polygon of the coverage area into MTTriangles, each triangle having a base station as a vertex, and any two triangles being either disjoint or having exactly one common edge phaseIn the cross section, MTThe number of base stations to be covered and the position distribution of the base stations are determined;
(3b) longitudinally and vertically dividing a three-dimensional low-altitude signal coverage area along each side of each triangle after the bottom surface division, and dividing an irregular prism area to be covered into a plurality of triangular prism areas with the triangle as the bottom surface and the height H;
(4) calculate the signal coverage volume for each triangular prism area:
(4a) the three base stations on the bottom surface of the triangular prism area cover the area with signals, the three base stations in each triangular area are respectively responsible for covering different height ranges, the coverage range of each base station is modeled into a rectangular pyramid taking the base station as a vertex, therefore, the signal coverage problem of each triangular prism area is converted into the situation that one triangular prism area is filled with the three rectangular pyramids, and the filled area realizes signal coverage; wherein, the vertical field angle and the horizontal field angle of the rectangular pyramid are respectively the width of the vertical beam and the width of the horizontal beam of the corresponding base station sector; the included angle between the rectangular pyramid and the bottom surface is an antenna upward inclination angle corresponding to the base station sector;
(4b) taking a convex polyhedron formed by enclosing the outer plane of each rectangular pyramid and the inner plane of the triangular prism as an uncovered area, taking the rest part as a covered area, and subtracting the volume of the uncovered area from the volume of the triangular prism of the area to be covered to obtain the signal covered volume of the triangular prism area;
(5) adjusting the height of each base station sector coverage:
and fixing a first base station coverage upper limit and a third base station coverage lower limit in each triangular area, adjusting the coverage upper limit and the coverage lower limit of the second base station to ensure that the signal coverage volume reaches local optimum, fixing the coverage upper limit and the coverage lower limit of the second base station, and adjusting the coverage upper limit and the coverage lower limit of the first base station to ensure that the signal coverage volume of each triangular column area reaches the optimization target of no-cavity cooperative coverage, wherein the first base station coverage lower limit is a fixed value, the third base station coverage upper limit is an initial set value, the value is H to H +400, and the interval is 50 m.
Compared with the prior art, the invention has the following advantages:
firstly, the invention constructs a three-dimensional low-altitude signal coverage area of a three-dimensional polygon prism with an irregular polygon as a bottom surface and a high H, wherein the irregular polygon is an external polygon formed by connecting all base station positions to be covered at the borderline in a base station position set, the H is less than or equal to 3000 m, and the value is determined by the distribution height of the low-altitude user terminal, thereby overcoming the problem that the prior art can only realize two-dimensional coverage of the base station to the ground user terminal and can not cover the air user terminal, so that the coverage range of the invention is not only widened from two-dimensional to three-dimensional low altitude, and the three-dimensional coverage of the ground base station to the ground user terminal and the air user terminal is realized.
Secondly, the invention calculates the signal coverage volume of each triangular prism area and adjusts the coverage height of each base station sector, so that the signal coverage volume of each triangular prism area reaches the optimization target of non-cavity cooperative coverage, and the problems that the low-altitude user terminal in the prior art can only be provided by a very small part of the coverage ground signal and the network coverage rate is possibly deteriorated are solved, so that the invention optimizes the signal coverage volume of the three-dimensional low-altitude area, and realizes the non-cavity cooperative coverage of the three-dimensional low-altitude area.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a Delaunay triangulation diagram according to the present invention based on a set of base station locations;
FIG. 3 is a simulation diagram of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The specific implementation steps of the present invention are further described in detail with reference to fig. 1.
Step 1, obtaining a base station position set by adopting a general ink Karl projection mode.
The general Mocha projection mode is that the position coordinates of each base station to be covered in a longitude and latitude coordinate system are converted into corresponding positions in a plane coordinate system, and the converted coordinate positions of all the base stations to be covered form a base station position set.
And 2, constructing a three-dimensional low-altitude signal coverage area.
And constructing a three-dimensional low-altitude signal coverage area of a three-dimensional polygon prism with an irregular polygon as a bottom surface and H as a height, wherein the irregular polygon is a circumscribed polygon formed by connecting all base station positions to be covered on the borderline in a base station position set, H is less than or equal to 3000 m, and the value of H is determined by the distribution height of the low-altitude user terminal.
And step 3, triangulating the three-dimensional low-altitude signal coverage area.
Performing Delaunay triangulation on the base station position set, and dividing the bottom surface polygon of the coverage area into MTTriangles, each triangle having a base station as a vertex, and any two triangles either do not intersect or have exactly one common edge intersecting, wherein M isTDetermined by the number of base stations to be covered and the location distribution of the base stations.
And vertically dividing the three-dimensional low-altitude signal coverage area along each side of each triangle after the bottom surface division, and dividing the irregular prism area to be covered into a plurality of triangular prism areas with the triangle as the bottom surface and the height H.
And 4, calculating the signal coverage volume of each triangular prism area.
The three base stations on the bottom surface of the triangular prism area cover the area with signals, the three base stations in each triangular area are respectively responsible for covering different height ranges, the coverage range of each base station is modeled into a rectangular pyramid taking the base station as a vertex, therefore, the signal coverage problem of each triangular prism area is converted into the situation that one triangular prism area is filled with the three rectangular pyramids, and the filled area realizes signal coverage; wherein, the vertical field angle and the horizontal field angle of the rectangular pyramid are respectively the width of the vertical beam and the width of the horizontal beam of the corresponding base station sector; the included angle between the rectangular pyramid and the bottom surface is the upward inclination angle of the antenna corresponding to the sector of the base station.
And taking a convex polyhedron formed by the outer plane of each rectangular pyramid and the inner plane of the triangular prism as an uncovered area, taking the rest part as a covered area, and subtracting the volume of the uncovered area from the volume of the triangular prism of the area to be covered to obtain the signal covered volume of the triangular prism area.
HBWm,iRepresents the horizontal beam width of the ith base station sector in the mth triangular prism area, i is 1,2,3, and M is 1TThe unit: the angle, whose value is equal to the horizontal opening angle of the corresponding rectangular pyramid, is a fixed value after the triangular region has been determined, VBW, since the horizontal opening angle of the rectangular pyramid is completely determined by the shape of the triangular regionm,iDenotes the vertical beam width of the ith base station sector in the mth triangular prism area, i is 1,2,3, M is 1TUnit: the angle is equal to the vertical opening angle of the corresponding rectangular pyramid, the vertical opening angle of the rectangular pyramid is completely determined by the width of the bottom surface quadrangle, and the upper and lower limits of the width of the bottom surface quadrangle are the upper and lower limits of the coverage of the sector, so that the upper and lower limits of the coverage of the sector of the base station are adjusted, namely the vertical beam width of the corresponding sector is adjusted.
And 5, adjusting the coverage height of each base station sector.
And fixing a first base station coverage upper limit and a third base station coverage lower limit in each triangular area, adjusting the coverage upper limit and the coverage lower limit of the second base station to ensure that the signal coverage volume reaches local optimum, fixing the coverage upper limit and the coverage lower limit of the second base station, and adjusting the coverage upper limit and the coverage lower limit of the first base station to ensure that the signal coverage volume of each triangular column area reaches the optimization target of no-cavity cooperative coverage, wherein the first base station coverage lower limit is a fixed value, the third base station coverage upper limit is an initial set value, the value is H to H +400, and the interval is 50 m.
The optimization target is
Optimizing constraint conditions: pm,i+gainm,i-lossm,iλ, where max denotes the max operation, MTM is 1TM is the number of the triangular prism area, VmSignal coverage volume, P, representing the mth triangular prism aream,iRepresents the m-th triangular prism areaTransmission power of the ith base station sector, i ═ 1,2,3, gainm,iRepresents the transmission gain, loss, of the ith base station sector in the mth triangular prism regionm,iAnd the path loss in the coverage range of the ith base station sector in the mth triangular prism area is shown, the lambda represents a receiving signal threshold value, and the lambda is equal to-90 dBm.
The effect of the method of the present invention is further explained by combining with simulation experiments as follows:
1. simulation experiment conditions are as follows:
the application platform of the simulation experiment of the invention is as follows: the processor is an 8-core AMD RyzenTM 74800U 64 bit CPU, the main frequency is 1.80GHz, the GPU is an AMD Radon (TM) graphics GPU, and the memory is 16 GB.
The software platform of the simulation experiment of the invention is as follows: windows10 operating system and MatlabR2018 a.
2. Simulation content and result analysis:
the simulation experiment scene of the invention is that a ground base station is deployed in a network scene of 15.18 square kilometers according to a given position, the number of base stations to be covered is 9, the height H of the network scene is set to be 300m, the receiving power lambda of a reference signal at a receiving end is set to be-90 dBm, the carrier frequency is 2.6GHz, a channel model is modeled to be an Egli model, wherein a parameter G in the Egli model is set to be-3. In nine triangular prism areas, three base stations on the bottom surface of each triangular prism area cover the area, and the three base stations in each triangular prism area are respectively responsible for covering different height ranges, wherein the coverage upper limit of a third base station sector is 300m to 700m, the interval is 50m, nine values are provided, the coverage upper limit values of the third base station sector in the nine triangular prism areas are set to be equal, the cooperative coverage of the three-dimensional low-altitude area is realized, the three-dimensional low-altitude area is referred to as the third base station sector coverage upper limit for short, and the coverage rate, the overlapping rate and the corresponding transmission power change condition of the low-altitude signal coverage method based on the triangulation optimization signal coverage volume to the whole network are evaluated according to the third base station sector coverage upper limit.
Egli channel model:
loss＝88.11+40lg(d)+20lg(f)-20lg(hthr) dBm-G unit
TABLE 1Egli model parameter Table
| loss propagation loss (unit: dBm) | d: distance between the transceivers (unit: km) |
| ht transmitting antenna height (unit: m) | hr receiving antenna height (unit: m) |
| f: working frequency (Unit: MHz) | G: terrain correction factor (Unit: dB) |
| Pt: base station transmit power (unit: dBm) |
In order to ensure the reasonable application of calculating the signal coverage volume of each triangular prism area, it is required to ensure that the reference received signal power of the user terminal at the point with the maximum path loss of each triangular prism area is greater than λ, and at this time, the transmission power of the base station is calculated as follows:
dBm as-90 + loss-gain unit
And the obtained P is the minimum transmitting power of each base station sector in the corresponding triangular prism area.
Table 2 shows a set of base station locations obtained by using a universal mercar projection method.
Table 2 post-conversion base station location set list
| Serial number | Abscissa/m | Ordinate/m | Antenna hanging height/m |
| 1 | 459243.06 | 3248533.68 | 18 |
| 2 | 456530.81 | 3249208.41 | 28 |
| 3 | 456343.56 | 3250233.99 | 28 |
| 4 | 458416.74 | 3249232.47 | 15 |
| 5 | 458650.78 | 3250628.63 | 15 |
| 6 | 461444.28 | 3248254.42 | 16 |
| 7 | 453838.47 | 3249430.79 | 21 |
| 8 | 463830.46 | 3248844.30 | 28 |
| 9 | 462541.35 | 3250629.95 | 28 |
The effect of the present invention will be further described with reference to fig. 2 and the simulation diagram of fig. 3.
Fig. 2 shows the distribution of 9 base stations in a planar coordinate system after being projected by universal mercar, X1-X9 represents the positions of the 1 st to 9 th base stations, the horizontal axis represents the X coordinate of the base station, which is from 452km to 464km, the vertical axis represents the y coordinate of the base station, which is from 3248km to 3251km, and Delaunay triangulation is performed according to the positions of the base stations to divide the whole 15.18 square kilometer area into 9 triangular areas. And vertically dividing the three-dimensional low-altitude signal coverage area along each side of each triangle after the bottom surface division, and dividing the irregular prism area to be covered into nine triangular prism areas with the triangle as the bottom surface and the height of 300 m.
FIG. 3 is a simulation of the present inventionFigure (a). Wherein fig. 3(a) shows a change diagram of the coverage volume and the overlapping volume with the change of the coverage upper limit of the third base station sector, the horizontal axis in fig. 3(a) shows the coverage upper limit of the third base station sector, which is 300m to 700m, and the vertical axis shows the volume size, which is 1.5km3To 5km3. The straight line marked by a circle represents a straight line formed by nine values of the total volume of a three-dimensional low-altitude area formed by nine base stations, the straight line marked by a prism represents a straight line formed by nine values of the signal coverage volume of the three-dimensional low-altitude area of the nine base stations, and the straight line marked by a square represents a straight line formed by nine values of the signal overlapping volume of the three-dimensional low-altitude area of the nine base stations.
The calculation steps of the optimal signal coverage volume and the corresponding overlapping volume of the three-dimensional low-altitude area when the sector coverage upper limit of different third base station is as follows:
firstly, three base stations on the bottom surface of a triangular prism area cover the area, the three base stations in each triangular area are respectively responsible for covering different height ranges, initially, the upper limit and the lower limit of the coverage of the first base station in each triangular area are respectively 0m and 100m, the upper limit and the lower limit of the coverage of the second base station are respectively 100m and 200m, the lower limit of the coverage of the third base station is 200m, the coverage of each base station is a rectangular pyramid taking the base station as a vertex, wherein the vertical field angle and the horizontal field angle of the rectangular pyramid are respectively the width VBW and the horizontal beam width HBW of a vertical beam of a corresponding base station sector;
secondly, taking a convex polyhedron formed by the outer plane of each rectangular pyramid and the inner plane of the triangular prism as an uncovered area, taking the rest part as a covered area, subtracting the volume of the uncovered area from the volume of the triangular prism of the area to be covered to obtain the signal covered volume of the triangular prism area, and subtracting the signal covered volume from the sum of the volumes of the three rectangular pyramids in the triangular prism to obtain a corresponding signal overlapped volume;
thirdly, fixing the upper coverage limit of the first base station and the lower coverage limit of the third base station in each triangular area, adjusting the upper coverage limit and the lower coverage limit of the second base station to ensure that the signal coverage volume reaches local optimum, fixing the upper coverage limit and the lower coverage limit of the second base station, and adjusting the upper coverage limit of the first base station and the lower coverage limit of the third base station to ensure that the signal coverage volume of each triangular prism area reaches optimum;
and fourthly, summing the signal coverage volumes in the nine triangular prism areas to obtain the signal coverage volume of the three-dimensional low-altitude area, and similarly, summing the superposed volumes to obtain the signal superposed volume of the three-dimensional low-altitude area.
As the upper coverage limit of the third base station sector increases, the volume of the uncovered area is compressed continuously, so that the coverage volume rises continuously as shown by the straight line marked by the diamond, and the overlapping area decreases because the coverage volume of the third base station sector increases, and the variation range of the upper coverage limit and the lower coverage limit of the first base station sector and the second base station sector decreases so that the volume of the overlapping area decreases, so that the overlapping area decreases as shown by the straight line marked by the square. Finally, when the upper coverage limit of the third base station sector is 700m, the coverage rate is 90.29%, the overlap rate is 35.54%, and the maximum vertical beam width of the third base station sector is 35 °.
Fig. 3(b) shows a graph of the total transmit power and the average transmit power as a function of the upper coverage limit of the third base station sector. In fig. 3(b), the horizontal axis represents the coverage upper limit of the third base station sector, which is 300m to 700m, and the vertical axis represents the power level, which is 0W to 60W. The straight line marked by a square represents a straight line formed by nine values of total transmission power of 9 base stations when the three-dimensional low-altitude area signal is covered, and the straight line marked by a circle represents a straight line formed by nine values of average transmission power of the 9 base stations when the three-dimensional low-altitude area signal is covered.
The calculation steps of the total transmitting power and the average transmitting power of nine base stations when different third base station sectors cover the upper limit are as follows:
step one, according to the Egli channel model, in each triangular prism area, the point with the largest path loss of each base station sector is the point with the farthest horizontal distance from the base station and the highest height of the receiving antenna, so that the maximum path loss value can be obtained;
second step, according to the formula
Calculating to obtain each base station sectorThe antenna gain of (1);
and step three, according to a formula P which is-90 + loss-gain unit, dBm is calculated to obtain the minimum transmitting power of each base station sector, the transmitting powers of all the base station sectors in the nine triangular column areas are summed to obtain the total transmitting power of the nine base stations, and the average transmitting power is obtained through averaging.
Since the vertical beam width of the first base station sector and the second base station sector is limited not to exceed 12 degrees, and the vertical beam width of the third base station sector has small change, the energy consumption of the whole network basically does not change.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A ground-to-air non-cavity cooperative coverage method based on triangulation optimization is characterized in that triangulation is carried out on a three-dimensional low-altitude signal coverage area, the signal coverage volume of each triangular column area is calculated, and the coverage height of each base station sector is adjusted to enable the signal coverage volume of each triangular column area to achieve ground-to-air non-cavity cooperative coverage; the covering method comprises the following specific steps:
step 1, obtaining a base station position set by adopting a general ink Karl projection mode;
step 2, constructing a three-dimensional low-altitude signal coverage area:
constructing a three-dimensional low-altitude signal coverage area of a three-dimensional polygon prism with an irregular polygon as a bottom surface and H as a height, wherein the irregular polygon is an external polygon formed by connecting all base station positions to be covered on the borderline in a base station position set, H is less than or equal to 3000 m, and the value of H is determined by the distribution height of a low-altitude user terminal;
step 3, triangulation is carried out on the three-dimensional low-altitude signal coverage area:
step 3.1, performing Delaunay triangulation on the base station position set, and dividing the bottom surface polygon of the coverage area into MTA triangle, each triangleThe shapes are based on base stations as vertices, and any two triangles either do not intersect or exactly have a common edge to intersect, where M isTThe number of base stations to be covered and the position distribution of the base stations are determined;
step 3.2, longitudinally and vertically dividing a three-dimensional low-altitude signal coverage area along each side of each triangle after the bottom surface division, and dividing an irregular prism area to be covered into a plurality of triangular prism areas with the triangle as the bottom surface and the height H;
step 4, calculating the signal coverage volume of each triangular prism area:
step 4.1, three base stations on the bottom surface of the triangular prism area cover the area with signals, the three base stations in each triangular prism area are respectively responsible for covering different height ranges, the coverage range of each base station is modeled into a rectangular pyramid taking the base station as a vertex, therefore, the signal coverage problem of each triangular prism area is converted into the situation that one triangular prism area is filled with the three rectangular pyramids, and the filled area realizes signal coverage; wherein, the vertical field angle and the horizontal field angle of the rectangular pyramid are respectively the width of the vertical beam and the width of the horizontal beam of the corresponding base station sector; the included angle between the rectangular pyramid and the bottom surface is an antenna upward inclination angle corresponding to the base station sector;
step 4.2, taking a convex polyhedron formed by the outer plane of each rectangular pyramid and the inner plane of the triangular prism as an uncovered area, taking the rest part as a covered area, and subtracting the volume of the uncovered area from the volume of the triangular prism of the area to be covered to obtain the signal covered volume of the triangular prism area;
step 5, adjusting the height covered by each base station sector:
in each triangular area, setting a first base station coverage lower limit of 0m, setting a third base station coverage upper limit value range of H to H +400 at an interval of 50m, and setting nine values, wherein under different third base station coverage upper limit values, initializing the first base station coverage upper and lower limits of 0m and H/3m, the second base station coverage upper and lower limits of H/3m and (2H)/3m, and the third base station coverage lower limit of (2H)/3 m; and fixing the upper coverage limit of the first base station and the lower coverage limit of the third base station in each triangular area, adjusting the upper coverage limit and the lower coverage limit of the second base station to ensure that the signal coverage volume reaches local optimum, fixing the upper coverage limit and the lower coverage limit of the second base station, and adjusting the upper coverage limit and the lower coverage limit of the third base station to ensure that the signal coverage volume of each triangular column area reaches the optimization target of cooperative coverage without holes in the air.
2. The ground-to-air non-cavity collaborative coverage method based on triangulation optimization according to claim 1, wherein the general Mokarl projection in step 1 is performed by converting the position coordinates of each base station to be covered in a longitude and latitude coordinate system into a corresponding position in a plane coordinate system, and combining the converted coordinate positions of all the base stations to be covered into a base station position set.
3. The ground-to-air no-hole cooperative coverage method based on triangulation optimization as claimed in claim 1, wherein the optimization goal of the ground-to-air no-hole cooperative coverage in step 5 is
Optimizing constraint conditions: pm,i+gainm,i-lossm,iλ, where max denotes the max operation, MTM is 1TM is the number of the triangular prism area, VmSignal coverage volume, P, representing the mth triangular prism aream,iDenotes the transmission power of the ith base station sector in the mth triangular prism area, i is 1,2,3, gainm,iRepresents the transmission gain, loss, of the ith base station sector in the mth triangular prism regionm,iAnd the path loss in the coverage range of the ith base station sector in the mth triangular prism area is shown, the lambda represents a receiving signal threshold value, and the lambda is equal to-90 dBm.
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