Integrated Sensing-Communication-Control System for Low-Altitude UAVs: A MIMO-OTFS-NOMA Framework and Key Enabling Techniques

LI Jingfu; LU Jiaxing; ZOU Yingquan; HUANG Chong; WANG Qianli; CHEN Gaojie; FAN Pingzhi

doi:10.12263/DZXB.20260145

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Integrated Sensing-Communication-Control System for Low-Altitude UAVs: A MIMO-OTFS-NOMA Framework and Key Enabling Techniques

Integrated Sensing and Communications Towards Low\-Altitude Economy | 更新时间：2026-10-16

- Integrated Sensing-Communication-Control System for Low-Altitude UAVs: A MIMO-OTFS-NOMA Framework and Key Enabling Techniques
- ACTA ELECTRONICA SINICA Vol. 54, Issue 6, Pages: 2609-2622(2026)
- 作者机构：
  
  1.西南交通大学信息科学与技术学院，四川成都 611756
  2.中山大学柔性电子学院，广东深圳 518107
- 作者简介：
- 基金信息：
  
  Basic Research Funding for Central Universities(2682025CX035);National Natural Science Foundation of China(62501498;62301455;U23A20274)
- DOI：10.12263/DZXB.20260145
  CLC： TN92;
- Received：22 February 2026，
  
  Accepted：12 March 2026，
  
  Published：25 June 2026
- 稿件说明：
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李劲夫, 鲁佳星, 邹应全, 等. 低空UAV集群MIMO-OTFS-NOMA通感控一体化系统及其关键技术研究[J]. 电子学报, 2026, 54(06): 2609-2622.

LI Jingfu, LU Jiaxing, ZOU Yingquan, et al. Integrated Sensing-Communication-Control System for Low-Altitude UAVs: A MIMO-OTFS-NOMA Framework and Key Enabling Techniques[J]. Acta Electronica Sinica, 2026, 54(06): 2609-2622.
李劲夫, 鲁佳星, 邹应全, 等. 低空UAV集群MIMO-OTFS-NOMA通感控一体化系统及其关键技术研究[J]. 电子学报, 2026, 54(06): 2609-2622. DOI：10.12263/DZXB.20260145

LI Jingfu, LU Jiaxing, ZOU Yingquan, et al. Integrated Sensing-Communication-Control System for Low-Altitude UAVs: A MIMO-OTFS-NOMA Framework and Key Enabling Techniques[J]. Acta Electronica Sinica, 2026, 54(06): 2609-2622. DOI：10.12263/DZXB.20260145

摘要

针对低空无人机（Unmanned Aerial Vehicle，UAV）集群在高速移动及复杂多径环境下，双选信道效应使通信链路与距离/速度等参数估计性能受限，同时远距离信息交互进一步带来可靠性下降与通-感-控闭环稳定性难题，提出一种MIMO-OTFS通感控一体化系统框架。该框架利用正交时频空间（Orthogonal Time Frequency Space，OTFS）在时延-多普勒（Delay-Doppler，DD）域的准静态表征能力，提升双选信道下的稳健传输与距离/速度等参数估计性能；结合多输入多输出技术（Multiple-Input Multiple-Output，MIMO）与功率域非正交多址接入技术（Non-Orthogonal Multiple Access，NOMA）实现集群规模接入与频谱复用。进一步地，构建DD域微多普勒结构化映射的物理层身份感知机制，将旋翼微多普勒作为“指纹”实现感知过程中的目标身份关联，为密集/交叉航迹条件下的鲁棒跟踪与协同控制提供可靠索引；同时，针对UAV集群上行回传链路，引入功率域NOMA传输机制，构建主UAV全频复用与从UAV分频接入的叠加传输架构，将复杂集群干扰解耦为若干并行的双用户NOMA模型，进一步设计基于消息传递算法与串行干扰消除的联合检测结构，有效地抑制若干个主UAV与从UAV的通信对回传所造成的用户间干扰，保障空地链路的传输可靠性。在此基础上，利用感知获得的距离/速度与微多普勒特征身份关联结果构建感知辅助的协同轨迹控制闭环，实现“通-感-控”一体化流程贯通。结果表明，与正交频分复用-非正交多址接入方案相比，所提方案在高移动双选信道中有约7 dB的误码率性能增益；感知侧可实现距离/速度等参数的稳定估计，其精度变化趋势与克拉美-罗界分析一致；在闭环协同验证中，基于感知反馈的UAV集群实现了三维编队轨迹跟踪，四架从UAV在持续机动巡航过程中的协同位置均方根误差分别控制在0.13、0.15、0.19、0.23 m，相对误差未出现发散，在仿真层面上初步验证了所提方案在“通-感-控”一体化流程中的闭环稳定性。

Abstract

Low-altitude unmanned aerial vehicle (UAV) swarms in urban airspace operate over rapidly time-varying multipath channels

where severe Doppler shifts and doubly selective fading can degrade data links

sensing reliability

and closed-loop cooperative control. To address these issues

this paper proposes an integrated sensing-communication-control framework based on MIMO-OTFS-non-orthogonal multiple access. Specifically

orthogonal time frequency space (OTFS) modulation is utilized to provide a quasi-static representation in the delay-Doppler (DD) domain

enhancing robust transmission and parameter estimation (e.g.

range and velocity) under doubly selective channels. Simultaneously

multiple-input multiple-output (MIMO) and power-domain non-orthogonal multiple access (NOMA) are combined to achieve massive access and spectral efficiency. Furthermore

we construct a DD-domain micro-Doppler structured-mapping mechanism

where rotor micro-Doppler signatures serve as physical-layer fingerprints for identity association

providing a reliable index for robust tracking and cooperative control under dense or crossing trajectory conditions. For the uplink backhaul

a superposition transmission architecture is designed with full-frequency multiplexing for the master UAV and frequency-division access for slave UAVs. By decomposing complex cluster interference into parallel two-user NOMA models and applying a joint detection scheme based on the message passing algorithm and successive interference cancellation

the proposed method effectively mitigates inter-user interference

ensuring air-ground link reliability. Finally

a sensing-aided cooperative trajectory control loop is established using the sensed range/velocity and micro-Doppler feature identity association results to realize the integrated sensing-communication-control process. Simulation results demonstrate that the proposed scheme avoids the bit-error-rate floor observed in baselines based on orthogonal frequency division multiplexing and non-orthogonal multiple access

and achieves a signal-to-noise ratio gain of approximately 7 dB. Moreover

the sensing module realizes stable estimation of range and velocity

with accuracy trends consistent with the Cramér-Rao bound analysis. In the closed-loop cooperative validation

the sensing-feedback-based UAV swarm achieves three-dimensional formation trajectory tracking. During continuous maneuvering cruise

the cooperative position root mean square errors of the four slave UAVs are controlled at 0.13

0.15

0.19

and 0.23 m

respectively

and the relative errors do not diverge. This preliminarily verifies the closed-loop stability of the proposed scheme in the integrated sensing-communication-control process at the simulation level.

关键词

Keywords

references

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