5G-A/6G+北斗通感导技术在低空经济中的应用与展望

金耀; 张贺; 邓中亮; 唐雄燕; 王泽林; 胡雅静; 马重阳

doi:10.11959/j.issn.1000-0801.2025045

您当前的位置：

首页 >

文章列表页 >

5G-A/6G+北斗通感导技术在低空经济中的应用与展望

专题：低空智联网与低空安全 | 更新时间：2025-04-24

- 5G-A/6G+北斗通感导技术在低空经济中的应用与展望
- Application and prospect of 5G-A/6G+Beidou communication, sensing and navigation technology in low-altitude economy
- 电信科学 2025年41卷第3期页码：1-16
- 作者机构：
  
  1.北京邮电大学电子工程学院，北京 100876
  2.中国联合网络通信有限公司研究院，北京 100048
  3.下一代互联网宽带业务应用国家工程研究中心，北京 100048
  4.北京电信规划设计院有限公司，北京 100048
  5.中国联合网络通信有限公司，北京 100033
- 作者简介：
  
  [ "金耀（1986- ），男，北京邮电大学电子工程学院博士生，中国联合网络通信有限公司研究院高级工程师，主要研究方向为5G+北斗通导融合、高精度定位技术及低空经济等。" ]
  [ "张贺（1971- ），男，中国联合网络通信有限公司研究院正高级工程师，主要研究方向为北斗时间同步及5G光纤传输等。" ]
  [ "邓中亮（1965- ），男，北京邮电大学电子工程学院教授，国际欧亚科学院院士，主要研究方向为无线网络定位与导航、卫星定位与导航、北斗+5G融合定位等。" ]
  [ "唐雄燕（1967- ），男，中国联合网络通信有限公司研究院副院长、首席科学家、正高级工程师，主要研究方向为宽带通信、光纤传输、互联网/物联网、新一代网络等。" ]
  [ "王泽林（1983- ），男，中国联合网络通信有限公司研究院高级工程师，主要研究方向为云网融合、算力网络及IP等。" ]
  [ "胡雅静（1979- ），女，北京电信规划设计院有限公司高级工程师，主要研究方向为北斗定位、5G无线通信、智慧城市网络等。" ]
  [ "马重阳（1976- ），男，中国联合网络通信有限公司高级工程师，主要从事光网络领域WDM/OTN网络运营、维护管理工作。" ]
- 基金信息：
  
  国家重点研发计划项目(2022YFB2903302;2022YFB3904603)
- DOI：10.11959/j.issn.1000-0801.2025045
  中图分类号： TP393
- 收稿日期：2025-01-13，
  
  修回日期：2025-02-27，
  
  纸质出版日期：2025-03-20
- 稿件说明：
移动端阅览
金耀,张贺,邓中亮等.5G-A/6G+北斗通感导技术在低空经济中的应用与展望[J].电信科学,2025,41(03):1-16.

JIN Yao,ZHANG He,DENG Zhongliang,et al.Application and prospect of 5G-A/6G+Beidou communication, sensing and navigation technology in low-altitude economy[J].Telecommunications Science,2025,41(03):1-16.
金耀,张贺,邓中亮等.5G-A/6G+北斗通感导技术在低空经济中的应用与展望[J].电信科学,2025,41(03):1-16. DOI： 10.11959/j.issn.1000-0801.2025045.

JIN Yao,ZHANG He,DENG Zhongliang,et al.Application and prospect of 5G-A/6G+Beidou communication, sensing and navigation technology in low-altitude economy[J].Telecommunications Science,2025,41(03):1-16. DOI： 10.11959/j.issn.1000-0801.2025045.

摘要

低空经济作为国家战略性新兴产业，将迎来重大发展机遇。然而，低空活动所需的通信、感知和导航等基础设施还不够完善。聚焦低空智联网中的5G-A/6G通感一体和北斗通导一体化技术，分析了二者的关键技术、融合思路及在低空经济中的应用和未来研究方向。首先，介绍了5G-A/6G通感一体技术和北斗通导一体化技术，并探讨了基于通信基站的通信、感知和导航3种技术的一体化融合思路。其次，研究了通信、感知、导航定位及授时技术在低空经济中的应用场景。最后，展望了面向低空经济应用的通信、感知及导航技术未来研究方向。

Abstract

As a national strategic emerging industry

the low-altitude economy will usher in significant development opportunities. However

the infrastructure required for low-altitude activities

such as communication

sensing

and navigation

are not yet fully developed. 5G-A/6G integrated sensing and communication (ISAC) technology and Beidou integrated communication and navigation (ICAN) technology in low-altitude intelligent network were focused on

their key technologies and integration ideas

as well as their applications and future research directions in low-altitude economy were analyzed. Firstly

5G-A/6G ISAC and Beidou ICAN technologies were introduced

and the integration of communication

sensing

and navigation technologies based on communication base stations were discussed. Secondly

the application scenarios of communication

sensing

navigation positioning

and timing technologies in low-altitude economy were studied. Finally

the future research directions of communication

sensing

and navigation technologies for low-altitude economic were discussed.

关键词

Keywords

references

赛迪顾问股份有限公司 . 中国低空经济发展研究报告（2024） [R ] . 2024 .

CCID . Research report on the development of China’s low-altitude economy (2024) [R ] . 2024 .

YI J , ZHANG H H , WANG F , et al . An operational capacity assessment method for an urban low-altitude unmanned aerial vehicle logistics route network [J ] . Drones , 2023 , 7 ( 9 ): 582 .

YAN Y G , LI X F , SHEN Z Y , et al . A high-precision risk analysis model of logistics UAV network with multiple constraining factors [J ] . Transactions of Nanjing University of Aeronautics and Astronautics , 2024 , 41 ( 2 ): 218 - 232 .

FAN S Y , TSAI M F , CHOU L H , et al . Application of UVA in soil and water conservation: preparation of planting materials for UVA [C ] // Proceedings of the 2018 IEEE International Conference on Advanced Manufacturing (ICAM) . Piscataway : IEEE Press , 2018 : 163 - 165 .

刘金成 , 王海明 , 何亚琼 , 等 . 无人机技术在精准林业中的应用与挑战 [J ] . 农业工程学报 , 2024 , 40 ( 5 ): 14 - 24 .

LIU J C , WANG H M , HE Y Q , et al . Application and challenges of UAV-based technology in precision forestry [J ] . Transactions of the Chinese Society of Agricultural Engineering , 2024 , 40 ( 5 ): 14 - 24 .

ZHANG J G , XU S L , ZHAO Y , et al . Aerial orthoimage generation for UAV remote sensing: Review [J ] . Information Fusion , 2023 , 89 : 91 - 120 .

张佳庆 , 孙韬 , 蒋弘瑞 , 等 . 基于林火风险的高压输电线路无人机巡检路径规划 [J ] . 清华大学学报(自然科学版) , 2024 , 64 ( 5 ): 911 - 921 .

ZHANG J Q , SUN T , JIANG H R , et al . Path planning for transmission line unmanned aircraft inspection based on forest fire risk [J ] . Journal of Tsinghua University (Science and Technology) , 2024 , 64 ( 5 ): 911 - 921 .

李明龙 , 杨文婧 , 易晓东 , 等 . 面向灾难搜索救援场景的空地协同无人群体任务规划研究 [J ] . 机械工程学报 , 2019 , 55 ( 11 ): 1 - 9 .

LI M L , YANG W J , YI X D , et al . Swarm robot task planning based on air and ground coordination for disaster search and rescue [J ] . Journal of Mechanical Engineering , 2019 , 55 ( 11 ): 1 - 9 .

KOZIOŁ A , SOBCZYK A . Usage of unmanned aerial vehicles in medical services: a review [C ] // Proceedings of the 12th Conference on Terotechnology . Pennsylvania : Materials Research Forum LLC , 2022 , 24 : 288 - 293 .

WANG M , CHEN P , CAO Z X , et al . Reinforcement learning-based UAVs resource allocation for integrated sensing and communication (ISAC) system [J ] . Electronics , 2022 , 11 ( 3 ): 441 .

MU J S , ZHANG R H , CUI Y H , et al . UAV meets integrated sensing and communication: challenges and future directions [J ] . IEEE Communications Magazine , 2023 , 61 ( 5 ): 62 - 67 .

ZHAO J W , GAO F F , JIA W M , et al . Integrated sensing and communications for UAV communications with jittering effect [J ] . IEEE Wireless Communications Letters , 2023 , 12 ( 4 ): 758 - 762 .

ZHOU Y G , LIU X , ZHAI X P , et al . UAV-enabled integrated sensing, computing, and communication for Internet of things: joint resource allocation and trajectory design [J ] . IEEE Internet of Things Journal , 2024 , 11 ( 7 ): 12717 - 12727 .

HU H H , ZHOU H F , LI J H , et al . Automatic and intelligent line inspection using UAV based on Beidou navigation system [C ] // Proceedings of the 2019 6th International Conference on Information Science and Control Engineering (ICISCE) . Piscataway : IEEE Press , 2019 : 1004 - 1008 .

ZUO J K , CHEN J T , LI Z S , et al . Research on maritime rescue UAV based on Beidou CNSS and extended square search algorithm [C ] // Proceedings of the 2020 International Conference on Communications, Information System and Computer Engineering (CISCE) . Piscataway : IEEE Press , 2020 : 102 - 106 .

BO W , WANG D L , ZHAO Y , et al . Rapid positioning method of power line inspection unmanned aerial vehicle assisted by BeiDou ground-based augmentation station [J ] . Energy Reports , 2021 , 7 : 1139 - 1148 .

ZHANG X M , YANG M J , WANG D , et al . A transmission line tower tilt detection method based on BeiDou positioning signals and UAV inspection images [J ] . Journal of Radiation Research and Applied Sciences , 2024 , 17 ( 4 ): 101192 .

王莉 , 魏青 , 徐连明 , 等 . 面向通信-导航-感知一体化的应急无人机网络低能耗部署研究 [J ] . 通信学报 , 2022 , 43 ( 7 ): 1 - 20 .

WANG L , WEI Q , XU L M , et al . Research on low-energy-consumption deployment of emergency UAV network for integrated communication-navigating-sensing [J ] . Journal on Communications , 2022 , 43 ( 7 ): 1 - 20 .

王腾飞 , 姚铮 , 陆明泉 . 导航通信探测一体化信号设计探究 [J ] . 全球定位系统 , 2022 , 47 ( 5 ): 1 - 8 .

WANG T F , YAO Z , LU M Q . Research on integrated signal design for navigation, communication and detection [J ] . GNSS World of China , 2022 , 47 ( 5 ): 1 - 8 .

肖克 , 王鹏泽 , 薛文军 , 等 . 通感导算一体地下无人集群协同通信技术 [C ] // 2023第七届全国集群智能与协同控制大会论文集 . 南京：中国指挥与控制学会 , 2023 : 164 - 169 .

XIAO K , WANG P Z , XUE W J , et al . Cooperative communication technology of underground unmanned cluster with communication- perceptionnavigation-computing integration [C ] // Proceedings of the 7th National Conference on Cluster Intelligence and Collaborative Control 2023 . Nanjing : Chinese Society of Command and Control , 2023 : 164 - 169 .

LIU F , CUI Y H , MASOUROS C , et al . Integrated sensing and communications: toward dual-functional wireless networks for 6G and beyond [J ] . IEEE Journal on Selected Areas in Communications , 2022 , 40 ( 6 ): 1728 - 1767 .

CUI Y H , LIU F , JING X J , et al . Integrating sensing and communications for ubiquitous IoT: applications, trends, and challenges [J ] . IEEE Network , 2021 , 35 ( 5 ): 158 - 167 .

LIU F , MASOUROS C , PETROPULU A P , et al . Joint radar and communication design: applications, state-of-the-art, and the road ahead [J ] . IEEE Transactions on Communications , 2020 , 68 ( 6 ): 3834 - 3862 .

HUANG T Y , SHLEZINGER N , XU X Y , et al . MAJoRCom: a dual-function radar communication system using index modulation [J ] . IEEE Transactions on Signal Processing , 2020 ( 68 ): 3423 - 3438 .

KOBAYASHI M , HAMAD H , KRAMER G , et al . Joint state sensing and communication over memoryless multiple access channels [C ] // Proceedings of the 2019 IEEE International Symposium on Information Theory (ISIT) . Piscataway : IEEE Press , 2019 : 270 - 274 .

ZHANG J A , HUANG X J , GUO Y J , et al . Multibeam for joint communication and radar sensing using steerable analog antenna arrays [J ] . IEEE Transactions on Vehicular Technology , 2019 , 68 ( 1 ): 671 - 685 .

YUAN X , FENG Z Y , ZHANG J A , et al . Spatio-temporal power optimization for MIMO joint communication and radio sensing systems with training overhead [J ] . IEEE Transactions on Vehicular Technology , 2021 , 70 ( 1 ): 514 - 528 .

LIU A , HUANG Z , LI M , et al . A survey on fundamental limits of integrated sensing and communication [J ] . IEEE Communications Surveys & Tutorials , 2022 , 24 ( 2 ): 994 - 1034 .

闫实 , 彭木根 , 王文博 . 通信-感知-计算融合: 6G愿景与关键技术 [J ] . 北京邮电大学学报 , 2021 , 44 ( 4 ): 1 - 11 .

YAN S , PENG M G , WANG W B . Integration of communication, sensing and computing: the vision and key technologies of 6G [J ] . Journal of Beijing University of Posts and Telecommunications , 2021 , 44 ( 4 ): 1 - 11 .

段向阳 , 杨立 , 夏树强 , 等 . 通感算智一体化技术发展模式 [J ] . 电信科学 , 2022 , 38 ( 3 ): 37 - 48 .

DUAN X Y , YANG L , XIA S Q , et al . Technology development mode of communication/sensing/computing/intelligence integration [J ] . Telecommunications Science , 2022 , 38 ( 3 ): 37 - 48 .

刘晨熙 , 马睿 , 彭木根 . 无人机通信感知一体化: 架构、技术与展望 [J ] . 电信科学 , 2023 , 39 ( 2 ): 1 - 9 .

LIU C X , MA R , PENG M G . UAV-enabled integrated sensing and communication: architecture, techniques, and future vision [J ] . Telecommunications Science , 2023 , 39 ( 2 ): 1 - 9 .

3GPP. Study on uncrewed aerial vehicle (UAV) phase3: TR 22.843 v19.0.0 [S ] . 2023 .

王瑜新 , 马一华 , 王钟斌 , 等 . 多站协同感知技术 [J ] . 信息通信技术 , 2024 , 18 ( 1 ): 16 - 24 .

WANG Y X , MA Y H , WANG Z B , et al . Multi-station collaborative sensing technology [J ] . Information and Communications Technologies , 2024 , 18 ( 1 ): 16 - 24 .

林祉秋 , 张玖鹏 , 闫实 . 多基站协作通感一体化体系架构及关键技术研究 [J ] . 移动通信 , 2024 , 48 ( 6 ): 52 - 60 .

LIN Z Q , ZHANG J P , YAN S . Architecture and key technologies for multi-base station cooperative integrated sensing and communication [J ] . Mobile Communications , 2024 , 48 ( 6 ): 52 - 60 .

范君 , 曾伟 , 钟检荣 . 通感一体化技术探讨 [J ] . 邮电设计技术 , 2024 ( 1 ): 6 - 9 .

FAN J , ZENG W , ZHONG J R . Discussion on integrated sensing and communication technology [J ] . Designing Techniques of Posts and Telecommunications , 2024 ( 1 ): 6 - 9 .

王璐璐 , 杨艳 , 李培 , 等 . 基于毫米波的5G-A通感一体化技术综述 [J ] . 邮电设计技术 , 2025 ( 1 ): 27 - 32 .

WANG L L , YANG Y , LI P , et al . Review of 5G-A ISAC technology based on millimeter wave [J ] . Designing Techniques of Posts and Telecommunications , 2025 ( 1 ): 27 - 32 .

瞿水华 , 许乐飞 , 程世伟 , 等 . 5G-A通信感知一体化技术对低空无人机检测性能的研究 [J ] . 电信工程技术与标准化 , 2024 , 37 ( 7 ): 75 - 80 .

QU S H , XU L F , CHENG S W , et al . Research on performance of low-altitude UAV by the 5G-A integrated sensing and communication [J ] . Telecom Engineering Technics and Standardization , 2024 , 37 ( 7 ): 75 - 80 .

乔勇 , 周威 , 戴君 , 等 . 面向智慧海洋场景的5G-A关键技术的研究与应用 [J ] . 移动通信 , 2024 , 48 ( 11 ): 115 - 123 .

QIAO Y , ZHOU W , DAI J , et al . Research and application of key 5G-A technologies for smart ocean scenarios [J ] . Mobile Communications , 2024 , 48 ( 11 ): 115 - 123 .

蔚保国 , 鲍亚川 , 杨梦焕 , 等 . 通导一体化概念框架与关键技术研究进展 [J ] . 导航定位与授时 , 2022 , 9 ( 2 ): 1 - 14 .

YU B G , BAO Y C , YANG M H , et al . Conceptual framework and research progress on communication and navigation integration [J ] . Navigation Positioning and Timing , 2022 , 9 ( 2 ): 1 - 14 .

尹露 , 马玉峥 , 李国伟 , 等 . 通信导航一体化技术研究进展 [J ] . 导航定位与授时 , 2020 , 7 ( 4 ): 64 - 76 .

YIN L , MA Y Z , LI G W , et al . Research progress of communication-positioning integrated technology [J ] . Navigation Positioning and Timing , 2020 , 7 ( 4 ): 64 - 76 .

邓中亮 , 王翰华 , 刘京融 . 通信导航融合定位技术发展综述 [J ] . 导航定位与授时 , 2022 , 9 ( 2 ): 15 - 25 .

DENG Z L , WANG H H , LIU J R . Status and trend of communication-navigation integrated positioning technology [J ] . Navigation Positioning and Timing , 2022 , 9 ( 2 ): 15 - 25 .

中华人民共和国国务院新闻办公室 . 《新时代的中国北斗》白皮书 [R ] . 2022 .

State Council Information Office of the People's Republic of China . White paper on China's Beidou in the new era [R ] . 2022 .

金耀 , 张贺 , 王泽林 , 等 . 北斗短报文发展与应用 [J ] . 邮电设计技术 , 2024 ( 3 ): 53 - 57 .

JIN Y , ZHANG H , WANG Z L , et al . Development and application of Beidou short message [J ] . Designing Techniques of Posts and Telecommunications , 2024 ( 3 ): 53 - 57 .

施闯 , 宋伟 , 郑福 , 等 . 北斗实时百皮秒级单差时频同步方法 [J ] . 测绘学报 , 2024 , 53 ( 5 ): 869 - 878 .

SHI C , SONG W , ZHENG F , et al . BDS real-time 100 picosecond level single difference time and frequency synchronization method [J ] . Acta Geodaetica et Cartographica Sinica , 2024 , 53 ( 5 ): 869 - 878 .

金耀 , 张贺 , 史正思 , 等 . 北斗在电信领域应用的发展思考 [J ] . 信息通信技术 , 2023 , 17 ( 5 ): 63 - 69 .

JIN Y , ZHANG H , SHI Z S , et al . Thoughts on the development of Beidou’s application in the telecommunications field [J ] . Information and Communications Technologies , 2023 , 17 ( 5 ): 63 - 69 .

3GPP. Study on NR positioning enhancements: TR38.857 version17.0.0 [S ] . 2021 .

邓中亮 , 王翰华 . “北斗+5G” 融合发展机遇 [J ] . 卫星应用 , 2021 ( 11 ): 20 - 24 .

DENG Z L , WANG H H . “ Beidou +5G” integration development opportunity [J ] . Satellite Application , 2021 ( 11 ): 20 - 24 .

3GPP. Stage 2 functional specification of user equipment(UE) positioning in NG-RAN: TS38.350 version 16.3.0 [S ] . 2021 .

金耀 , 周又眉 , 张贺 , 等 . 北斗+5G融合定位技术研究及应用进展 [J ] . 全球定位系统 , 2023 , 48 ( 4 ): 12 - 18 .

JIN Y , ZHOU Y M , ZHANG H , et al . Research and application progress of Beidou+5G fusion positioning technology [J ] . GNSS World of China , 2023 , 48 ( 4 ): 12 - 18 .

赵川斌 , 罗宏亮 , 高飞飞 . 基站对低空无人机通感算一体化应用组网研究 [J ] . 移动通信 , 2024 , 48 ( 9 ): 57 - 63, 70 .

ZHAO C B , LUO H L , GAO F F . Integrated sensing, communication, and computing for low-altitude UAV networks: a base station- centric approach [J ] . Mobile Communications , 2024 , 48 ( 9 ): 57 - 63, 70 .

陈立 , 邱健熙 . 推动5G-A通感一体技术发展构筑低空经济坚实底座 [J ] . 新经济导刊 , 2024 ( 7 ): 36 - 41 .

CHEN L , QIU J X . Promote the development of 5G-A integrated sensing and communication technology building a solid foundation for low-altitude economy [J ] . New Economy Weekly , 2024 ( 7 ): 36 - 41 .

ZHANG J A , RAHMAN M L , WU K , et al . Enabling joint communication and radar sensing in mobile networks: a survey [J ] . IEEE Communications Surveys & Tutorials , 2022 , 24 ( 1 ): 306 - 345 .

AHMED A , ZHANG Y D . Optimized resource allocation for distributed joint radar-communication system [J ] . IEEE Transactions on Vehicular Technology , 2024 , 73 ( 3 ): 3872 - 3885 .

贾兴华 , 刘鹏 , 齐望东 , 等 . 5G通导融合高精度定位技术进展及仿真验证平台 [J ] . 电信科学 , 2022 , 38 ( 8 ): 75 - 85 .

JIA X H , LIU P , QI W D , et al . Technical perspective and simulation platform for 5G integrated communication and high precision localization [J ] . Telecommunications Science , 2022 , 38 ( 8 ): 75 - 85 .

汪保友 , 杨景涛 , 姚赛彬 , 等 . 面向智慧园区的5G室内高精度定位技术研究 [J ] . 电信科学 , 2023 , 39 ( 9 ): 163 - 173 .

WANG B Y , YANG J T , YAO S B , et al . Research on 5G high-precision indoor positioning technology for smart parks [J ] . Telecommunications Science , 2023 , 39 ( 9 ): 163 - 173 .

李健翔 , 贾艺楠 , 田晓阳 , 等 . 5G定位关键技术与标准进展 [J ] . 电信科学 , 2023 , 39 ( 11 ): 137 - 144 .

LI J X , JIA Y N , TIAN X Y , et al . Key technologies and standards progress for 5G positioning [J ] . Telecommunications Science , 2023 , 39 ( 11 ): 137 - 144 .

任斌 , 张振宇 , 方荣一 , 等 . 面向5G-Advanced无线系统的高精度定位技术 [J ] . 电信科学 , 2022 , 38 ( 3 ): 65 - 73 .

REN B , ZHANG Z Y , FANG R Y , et al . High-accuracy positioning for 5G-Advanced wireless systems [J ] . Telecommunications Science , 2022 , 38 ( 3 ): 65 - 73 .

黄洪 , 高旺 , 缪巍巍 , 等 . 基于BDS-3/GPS的RTK/B2b-PPP融合切换定位技术 [J ] . 全球定位系统 , 2023 , 48 ( 4 ): 57 - 62 .

HUANG H , GAO W , MIAO W W , et al . RTK/B2b-PPP fusion switching positioning technology based on BDS-3/GPS [J ] . GNSS World of China , 2023 , 48 ( 4 ): 57 - 62 .

田园 , 吴峰 , 欧阳俊 , 等 . 面向低空经济的无人机通信及标准进展分析 [J ] . 信息通信技术 , 2023 , 17 ( 5 ): 38 - 44 .

TIAN Y , WU F , OUYANG J , et al . Analysis of uncrewed aerial vehicle communication and standard progress for LowAltitude economy [J ] . Information and Communications Technologies , 2023 , 17 ( 5 ): 38 - 44 .

杨晨 , 张少卿 , 孟光磊 . 多无人机协同任务规划研究 [J ] . 指挥与控制学报 , 2018 , 4 ( 3 ): 234 - 248 .

YANG C , ZHANG S Q , MENG G L . Multi-UAV cooperative mission planning [J ] . Journal of Command and Control , 2018 , 4 ( 3 ): 234 - 248 .

刘淑青 , 高永新 , 韩德强 . 采用相对位置量测的紧耦合式多无人机协同定位算法 [J ] . 西安交通大学学报 , 2024 , 58 ( 10 ): 178 - 187 .

LIU S Q , GAO Y X , HAN D Q . Tightly coupled cooperative localization algorithm for multiple unmanned aerial vehicles based on relative position measurements [J ] . Journal of Xi’an Jiaotong University , 2024 , 58 ( 10 ): 178 - 187 .

朱徐东 , 赖际舟 , 周本川 , 等 . 基于构型寻优的多无人机鲁棒自适应协同定位方法 [J ] . 中国惯性技术学报 , 2023 , 31 ( 7 ): 650 - 658, 664 .

ZHU X D , LAI J Z , ZHOU B C , et al . Robust adaptive cooperative localization method for multiple UAVs based on configuration optimization [J ] . Journal of Chinese Inertial Technology , 2023 , 31 ( 7 ): 650 - 658, 664 .

3GPP. WI on NR support for UAV: RP-23.782 version 18.0.0 [S ] . 2023 .

陈谋 , 马浩翔 , 雍可南 , 等 . 无人机安全飞行控制综述 [J ] . 机器人 , 2023 , 45 ( 3 ): 345 - 366 .

CHEN M , MA H X , YONG K N , et al . Safety flight control of UAV: a survey [J ] . Robot , 2023 , 45 ( 3 ): 345 - 366 .

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于物理不可克隆函数的车云轻量级匿名认证协议

低空3.5 GHz双载波网络覆盖解决方案研究

手机直连低轨卫星的应用场景及业务需求分析

北斗RNSS授时技术在智能电网雷电定位系统中的应用