US 12,092,478 B2
Apparatus and method for measuring and drawing wide-area spatial channel map through multi-unmanned aerial vehicle (UAV) cooperation
Qiuming Zhu, Nanjing (CN); Kai Mao, Nanjing (CN); Yanheng Qiu, Nanjing (CN); Xiaomin Chen, Nanjing (CN); Boyu Hua, Nanjing (CN); Zhipeng Lin, Nanjing (CN); Xuchao Ye, Nanjing (CN); Weizhi Zhong, Nanjing (CN); Fuqiao Duan, Nanjing (CN); and Qihui Wu, Nanjing (CN)
Assigned to Nanjing University of Aeronautics and Astronautics, Nanjing (CN)
Filed by Nanjing University of Aeronautics and Astronautics, Nanjing (CN)
Filed on Jul. 31, 2023, as Appl. No. 18/227,988.
Claims priority of application No. 202310084902.7 (CN), filed on Feb. 9, 2023.
Prior Publication US 2024/0271961 A1, Aug. 15, 2024
Int. Cl. G01C 21/00 (2006.01)
CPC G01C 21/3852 (2020.08) [G01C 21/3841 (2020.08); G01C 21/3848 (2020.08)] 7 Claims
OG exemplary drawing
 
1. A surveying and mapping instrument for a wide-area spatial channel map through a multi-unmanned aerial vehicle (UAV) cooperation, comprising: a measurement signal emission unit, a measurement signal multi-UAV cooperative receiving unit, and a channel data fusion processing unit, wherein
the measurement signal emission unit generates and emits a measurement signal, the measurement signal multi-UAV cooperative receiving unit receives the measurement signal transmitted through a wireless channel, extracts an effective multipath component from the measurement signal, frames the effective multipath component and corresponding time and location information for storage, and transmits stored channel data to the channel data fusion processing unit offline, and
the channel data fusion processing unit fuses the channel data in terms of space, time, and frequency dimensions, and completes missing channel data to construct a complete wide-area spatial channel map;
wherein the measurement signal multi-UAV cooperative receiving unit comprises M measurement signal aerial receiving nodes, and each of the measurement signal aerial receiving nodes comprises a low noise amplifier module, a channel response extraction module, a system response elimination module, a channel response compensation module, a multipath component extraction module, a Global Position System (GPS) module 2, a channel parameter framing module, and an UAV data storage module, wherein
the low noise amplifier module performs a low noise amplification on the measurement signal received by a receiving antenna and transmits the amplified measurement signal to the channel response extraction module,
the channel response extraction module extracts an original channel impulse response,
the system response elimination module obtains a system response of a measurement system through a back-to-back measurement and eliminates the system response,
the channel response compensation module compensates for a power loss of a channel impulse response due to a sampling time offset between receiving and emission nodes,
the multipath component extraction module extracts an effective multipath component from the channel impulse response by adopting an adaptive noise threshold,
the GPS module 2 uses a pulse per second signal to trigger a reception of the measurement signal, and obtains time and location information of the measurement signal aerial receiving nodes,
the channel parameter framing module frames the effective multipath component and its corresponding time and location information, and
framed channel data is stored in the UAV data storage module.