海上空対海通信における2波フェージング軽減のための3Dオイラー角姿勢制御
3D Euler-Angle Orientation Control for Two-Ray Fading Mitigation in Maritime Air-to-Sea Communications
ドローンの3次元姿勢を制御変数として活用し、2波干渉を整形することで海上通信のフェージングを軽減する手法を提案。
著者: Mohammed Bajja, Abdoul Karim A. H. Saliah, Hajar El Hammouti, Daniel Bonilla Licea, Giuseppe Silano
分類: cs.RO
原文アブストラクト
Maritime Air-to-Sea links are dominated by a line-of-sight ray and a sea-surface reflected ray whose destructive combination produces deep fades. Existing mitigation strategies optimize Unmanned Aerial Vehicle position or trajectory but leave attitude unexploited. This paper treats the full three dimensional attitude as a physical-layer control variable that shapes the two-ray interference through antenna phase-center displacement. Under small-angle and far-field assumptions, the constructive-interference condition reduces to an affine constraint in the Euler angles and admits a closed-form family of minimum-norm attitude candidates. A differentiable soft-minimum rule yields a smooth reference tracked by a constrained Nonlinear Model Predictive Control controller on a fully-actuated tilting multirotor. The proposed scheme increases cumulative throughput by 11.4% over a pitch-only benchmark and 22.2% over a zero-orientation baseline, while preserving trajectory tracking and respecting actuator limits.