基于多无人机协作通感一体化的隐蔽通信设计

摘要: 无人机隐蔽通信在实现可持续低空经济方面引起了相当大的关注。本文基于通感一体化框架，研究了多无人机协作隐蔽通信网络的系统策略和资源分配，其中多个无人机进行协作感知并在移动监管者(Willie)存在的情况下同时向多个地面用户(GUs)隐蔽传输下行信息。为了提高通信隐蔽性，无人机在干扰(JUAV)模式和信息(IUAV)模式之间自适应切换。为了应对Willie的移动性，采用基于无迹卡尔曼滤波的方法，利用从ISAC回波中提取的时延和多普勒频移来预测和跟踪Willie的位置。通过联合优化JUAV选择策略、IUAV-GU调度、通信/干扰功率分配，本文提出了一个实时公平性传输最大化问题。采用交替优化方法，将原始问题分解为一系列子问题，从而获得有效的次优解。仿真结果表明，所提出的方案能够准确跟踪Willie并有效保证下行隐蔽传输。
- 通感一体化 /
- 无人机 /
- 隐蔽通信 /
- 干扰选择
Abstract: Covert unmanned aerial vehicle (UAV) communication has garnered considerable attention for realizing a sustainable low-altitude economy (LAE). Based on the integrated sensing and communication (ISAC) framework, this paper studies the system strategies and resource allocation for a cooperative multi-UAV covert communication network, where multiple UAVs are employed to simultaneously conduct cooperative sensing and covert downlink transmissions to multiple ground users (GUs) in the presence of a mobile warden (Willie). To improve communication covertness, UAVs adaptively switch between jamming unmanned aerial vehicle (JUAV) mode and information unmanned aerial vehicle (IUAV) mode. To cope with the mobility of Willie, an unscented Kalman filtering (UKF)-based method is employed to track and predict Willie's location using delay and Doppler measurements extracted from ISAC echoes. By jointly optimizing the JUAV selection strategy, IUAV-GU scheduling, and communication/jamming power allocation, a real-time fairness transmission maximization problem is formulated. The alternating optimization (AO) approach is adopted to decompose the original problem into a series of sub-problems, resulting in an efficient sub-optimal solution. Simulation results demonstrate that the proposed scheme can accurately track Willie and effectively ensure covert downlink transmission.
- Integrated sensing and communication /
- Unmanned aerial vehicle /
- Covert communication /
- Jammer selection

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图 1 多无人机协作通感一体化的隐蔽通信场景

Figure 1. Multi-UAV collaborative ISAC-based covert communications

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图 2 系统配置示意图及Willie轨迹跟踪性能

Figure 2. System configuration and Willie trajectory tracking performance

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图 3 EKF和UKF跟踪性能比较

Figure 3. Tacking performance comparison between EKF and UKF

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图 4 迭代次数对传输性能的影响

Figure 4. Convergence behavior of our proposed algorithm

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图 5 无人机数量对系统性能的影响

Figure 5. Effect of UAV numbers on system performance

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图 6 系统平均总可达速率的累积分布函数

Figure 6. The CDF of the average achieved capacity

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图 7 不同隐蔽性阈值$\epsilon $对于系统性能影响

Figure 7. The average achieved capacity with various $\epsilon $

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图 8 不同隐蔽性阈值$\epsilon $和发射功率下系统吞吐量

Figure 8. System throughput at different $\epsilon $ and transmit powers

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图 9 系统公平性比较

Figure 9. Fairness comparison with sum-rate-maximization scheme

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1 多无人机联合干扰策略优化算法

1. Jamming strategy optimization algorithm

输入：迭代索引${r_1} = 0$, ${r_{1,\max }}$，${\kappa _{\max }}$和可行点　$ \left\{ {{\mathcal{B}^0},{\mathcal{P}^0},{{\tilde {\mathcal{P}}}}^0},{\mu ^0} \right\} $
输出：$\left\{ {{\mathcal{B}^},{\mathcal{P}^{J,}},{{\tilde {\mathcal{P}}}^{J,}},{\mu ^}} \right\}$
1．给定$\left\{ {{\mathcal{B}^{{r_1}}},{\mathcal{P}^{J,{r_1}}},{{\tilde {\mathcal{P}}}^{J,{r_1}}},{\mu ^{{r_1}}}} \right\}$，求解(P1-1)，并将解表示　为$\left\{ {{\mathcal{B}^},{\mathcal{P}^{J,}},{{\tilde {\mathcal{P}}}^{J,}},{\mu ^}} \right\}$
2．令$\left\{ {{\mathcal{B}^{{r_1}}},{\mathcal{P}^{J,{r_1}}},{{\tilde {\mathcal{P}}}^{J,{r_1}}},{\mu ^{{r_1}}}} \right\} = \left\{ {{\mathcal{B}^},{\mathcal{P}^{J,}},{{\tilde {\mathcal{P}}}^{J,}},{\mu ^}} \right\}$
3．更新 ${\kappa ^{{r_1} + 1}} = \min \{ {a_0}{\kappa ^{{r_1}}},{\kappa _{\max }}\} $
4．更新 ${r_1} = {r_1} + 1$
5．重复上述步骤直到收敛

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2 多无人机隐蔽通信总体设计算法

2. Overall algorithm of multi-UAV-based covert communications

输入：$n = 2,$$\ell = 0,{{\boldsymbol{\hat x}}_w}[1],{{\hat {\boldsymbol C}}}[1]$，最大迭代次数为${\ell _{\max }}$和　$\left\{ {{\mathcal{A}^0},{\mathcal{P}^{I,0}}} \right\}$
输出：$\left\{ {\mathcal{A},{\mathcal{P}^I}\mathcal{B},{\mathcal{P}^\mathcal{J}}} \right\}$
1. 计算预测值${{\boldsymbol{\hat x}}_w}[n\mid n - 1]$和${{\hat {\boldsymbol C}}}[n\mid n - 1]$
2. 解问题(P1-1)来确定干扰策略$\left\{ {{\mathcal{B}^{\ell + 1}},{\mathcal{P}^{\mathcal{J},\ell + 1}}} \right\}$
3. 基于$\left\{ {{\mathcal{B}^{\ell + 1}},{\mathcal{P}^{\mathcal{J},\ell + 1}}} \right\}$，解(P2-1)和(P3-1)确定　$\left\{ {{\mathcal{A}^{\ell + 1}},{\mathcal{P}^{I,\ell + 1}}} \right\}$
4. 更新$\ell = \ell + 1$并重复步骤2—3，直到收敛或者$\ell \ge {\ell _{{\text{max }}}}$
5. 更新$n = n + 1$，并重复上述步骤，直到$n > N$

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