3D Euler-Angle Orientation Control for Two-Ray Fading Mitigation in Maritime Air-to-Sea Communications

2026-09-10

AI Summary

本文通过控制无人机的三维姿态来优化海上空对海通信中的两射线干扰问题，使用非线性模型预测控制方法，提高了通信吞吐量。

Abstract

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.

Problem

• Maritime Air-to-Sea Communications
• Two-Ray Fading
• Euler-Angle Orientation

Innovation

• Euler-Angle Orientation Control
• Two-Ray Fading Mitigation
• Maritime Air-to-Sea Communications
• Nonlinear Model Predictive Control