基于MIMO-OTFS通感波形的FANET快速邻居发现方法

doi:10.3969/j.issn.1009-086x.2025.02.012

摘要/Abstract

摘要：

针对基于定向传输的飞行器自组织网络（flying ad-hoc network，FANET）中拓扑变化频繁、链路质量波动以及初始建网困难等问题，提出了一种基于多输入多输出（multiple-input multiple-output，MIMO）正交时频空（orthogonal time frequency space，OTFS）通感一体化波形的感知辅助快速邻居发现方法，借助感知机制实时获取邻节点信息以加速建网效率，并采用新型的通感一体波形OTFS以对抗快变信道中的多普勒效应，提升链路质量。针对FANET场景研究物理层基于MIMO-OTFS通感一体化波形的多目标检测技术；将物理层感知方案映射到上层网络中，设计感知辅助的高效邻居发现算法；最后提出一种多点通感协同机制，通过邻节点间交互感知信息和邻居发现表以间接感知及发现潜在目标，提升FANET初始建网的效率。仿真结果表明，所提方案相比传统通信组网协议可以极大降低FANET的初始建网耗时，增加目标感知精度，提升组网的整体性能。

关键词: 正交时频空, 通感一体技术, 邻居发现, 多目标检测技术, 多输入多输出

Abstract:

Flying ad-hoc networks （FANET） using directional transmissions face challenges during network initialization due to frequent topology changes and fluctuations in link quality. To address these issues， a sensing-assisted rapid neighbor discovery method is proposed. The main idea of this method is to use a sensing mechanism to obtain neighbor node information， which accelerates network efficiency. In addition， this paper describes the adoption of a new integrated sensing and communication waveform， known as multiple-input multiple-output （MIMO） orthogonal time-frequency space （OTFS），which combats the Doppler effect in fast-changing channels and improves link quality. For FANET scenarios， a multi-target detection technique based on MIMO-OTFS integrated sensing and communication waveforms is studied at the physical layer. This physical layer sensing scheme is then mapped to the upper layer network， and a sensing-assisted efficient neighbor discovery algorithm is designed. Additionally， a integrated sensing and communication mechanism for collaborative discovery of multi-point is proposed. This mechanism indirectly senses and discovers potential targets by interacting with sensing information and neighbor discovery tables among neighboring nodes. The proposed mechanism enhances the initial networking efficiency of FANET. Simulation results demonstrate that the proposed scheme outperforms pure communication protocols. This leads to a significant reduction in the initial networking time of FANET， an increase in target sensing accuracy， and an overall improvement in network performance.

Key words: orthogonal time-frequency space（OTFS）, integrated sensing and communication, neighbor discovery, multi-target detection technology, multiple-input multiple-output（MIMO）

中图分类号:

V279

王为栋, 杨健, 尚佳栋, 高晖, 张前南, 张硕. 基于MIMO-OTFS通感波形的FANET快速邻居发现方法[J]. 现代防御技术, 2025, 53(2): 107-120.

Weidong WANG, Jian YANG, Jiadong SHANG, Hui GAO, Qiannan ZHANG, Shuo ZHANG. A Rapid Neighbor Discovery Method for Directional Flying Ad-Hoc Networks Based on MIMO-OTFS Integrated Sensing and Communication Waveform[J]. Modern Defense Technology, 2025, 53(2): 107-120.

图/表 16

表1 感知辅助的快速邻居发现方法对比文献

Table 1 Sensing-assisted rapid neighbor discovery method article comparison

文献	［23］	［24］	［25］	本文
飞联网场景	×	√	√	√
通信协同发现机制	×	×	√	√
通感协同发现机制	×	×	×	√
物理层设计优化协议	√	×	×	√
定向收发模式	×	√	√	√
随机邻居发现算法	√	×	√	√
确定序列扫描算法	×	√	×	×

图1 3D无人机场景

Fig. 1 3D unmanned aerial vehicle scene

图2 多射频波束赋形架构

Fig. 2 Multi-RF beam forming architecture

图3 帧结构图

Fig. 3 Frame structure

图4 不同扫描次数B的波束空间切面对比图

Fig. 4 Comparison of beam space cross-sections with different scanning times B

图5 邻居发现阶段定向组网3D场景图

Fig. 5 Directional networking 3D scene in neighbor discovery stage

表2 感知表

Table 2 Sensing table

参数标识	含义
loc	感知目标的位置信息
Beam_num	波束方向编号
Flag	标志位
Node_num	潜在目标数
Dis_num	交互目标数
SNR	回波信号信噪比

表3 邻居表

Table 3 Neighbor table

参数标识	含义
ID	节点ID
loc	位置信息

图6 基于通感协同的快速邻居发现算法流程图

Fig. 6 Flowchart of rapid neighbor discovery algorithm based on integrated sensing and communication collaboration

表4 仿真参数设置

Table 4 Simulation parameter settings

参数名称	参数值
OTFS符号数N	32
OTFS载波数M	32
载波频率/GHz	30
带宽/MHz	64
发射功率/dBm	30
天线数	8×8
射频数	1~6
波宽/（°）	25
噪声功率谱密度/（W·Hz^-1）	2×10^-21
雷达横截面/m²	1
空间尺寸	10 km×10 km×10 km
时隙上限	200个时隙

图7 不同射频数下扫描次数与角度域RMSE性能曲线图

Fig. 7 Curve of scanning times and angular domain RMSE performance under different RF numbers

图8 MIMO-OTFS与MIMO-OFDM的角度域RMSE性能曲线对比图

Fig. 8 Comparison of angular domain RMSE performance curves between MIMO-OTFS and MIMO-OFDM

图9 MIMO-OTFS与MIMO-OFDM的感知成功概率与SNR关系曲线对比图

Fig. 9 Comparison of sensing success probability and snr relationship curves between MIMO-OTFS and MIMO-OFDM

图10 不同的波束数量下邻居节点数与消耗时隙数的曲线

Fig. 10 Curve of neighbor node number and consumed slot number under different beam numbers

图11 无协同、通信协同机制以及通感协同机制的性能对比

Fig. 11 Performance comparison of no collaboration， communication collaboration mechanism and ISAC collaboration mechanism

图12 MIMO-OTFS与MIMO-OFDM波形下的邻居发现性能对比

Fig. 12 Comparison of neighbor discovery performance under MIMO-OTFS and MIMO-OFDM waveforms

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