城市密集环境下基于不确定度的无人机频谱地图主动感知方法

张晗; 韩宇; 孟令欣; 姚孟辰; 陈晗卉

doi:10.12263/DZXB.20260052

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城市密集环境下基于不确定度的无人机频谱地图主动感知方法

更新时间：2026-06-08

- 城市密集环境下基于不确定度的无人机频谱地图主动感知方法
- Uncertainty-Driven UAV Active Sensing for Radio Map Construction in Dense Urban Environments
- 电子学报 2026年页码：1-12
- 作者机构：
  
  哈尔滨工程大学信息与通信工程学院，黑龙江哈尔滨 150001
- 作者简介：
  
  [ "张晗男，1997年8月出生于辽宁省葫芦岛市。现为哈尔滨工程大学信息与通信工程学院博士研究生。主要研究方向为频谱地图生成、无人机端侧应用。E-mail: hldzhh1997@hrbeu.edu.cn" ]
  [ "韩宇男，1986年10月出生于黑龙江省哈尔滨市。现为哈尔滨工程大学副教授。主要研究方向为电磁环境数据挖掘与智能模型建模、电磁频谱地图生成等。E-mail: yu.han1001@hrbeu.edu.cn" ]
- 基金信息：
  
  国家自然科学基金(62201172);中央高校基本科研业务费专项资金资助项目(3072025YY0801)
- DOI：10.12263/DZXB.20260052
  中图分类号： TN929.5;
- 收稿：2026-02-20，
  
  录用：2026-03-12，
  
  网络首发：2026-06-08，
- 稿件说明：
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张晗, 韩宇, 孟令欣, 等. 城市密集环境下基于不确定度的无人机频谱地图主动感知方法[J/OL]. 电子学报, 2026,1-12.

ZHANG Han, HAN Yu, MENG Lingxin, et al. Uncertainty-Driven UAV Active Sensing for Radio Map Construction in Dense Urban Environments[J/OL]. ACTA ELECTRONICA SINICA, 2026, 1-12.
张晗, 韩宇, 孟令欣, 等. 城市密集环境下基于不确定度的无人机频谱地图主动感知方法[J/OL]. 电子学报, 2026,1-12. DOI： 10.12263/DZXB.20260052.

ZHANG Han, HAN Yu, MENG Lingxin, et al. Uncertainty-Driven UAV Active Sensing for Radio Map Construction in Dense Urban Environments[J/OL]. ACTA ELECTRONICA SINICA, 2026, 1-12. DOI： 10.12263/DZXB.20260052.

摘要

在城市密集环境中，高层建筑遮挡、多系统并发辐射及多源干扰叠加使电磁环境呈现显著时变性和空间异质性，传统离线构建并低频更新的频谱地图难以及时反映真实信道状态，难以满足动态频谱管理、无线资源调度及低空通信保障对精度与时效性的要求，尤其是在复杂任务场景下对在线感知与快速决策能力提出了更高要求。针对上述问题，本文提出一种基于不确定度驱动的无人机频谱地图主动感知方法。首先，将无人机在线频谱地图更新与路径规划联合建模为马尔可夫决策过程，在状态中显式引入地图不确定度统计量、无人机位姿、飞行时间、目标距离和任务进度等信息，以增强策略对环境变化和任务阶段的综合表征能力。其次，利用预训练U-Net实现SINR频谱地图在线重构，并输出像素级不确定度估计，以不确定度下降表征信息增益，引导无人机优先感知高价值未知区域。进一步，设计基于特征线性调制的FiLM-D3QN决策网络，利用不确定度与任务进程条件动态调制中间特征和价值估计，实现信息获取与航迹效率之间的自适应权衡。仿真结果表明，在多干扰城市场景下，所提方法在到达率保持90%以上的同时，可有效降低地图重构误差，RMSE较经典IPP方法下降约7.1%，较原始D3QN下降约9.8%，并具有更短的平均回合长度，验证了该方法在复杂城市电磁环境中开展在线频谱地图更新与主动感知任务的有效性。

Abstract

In dense urban environments

blockage by high-rise buildings

concurrent radiation from multiple wireless systems

and the superposition of multi-source interference make the electromagnetic environment highly time-varying and spatially heterogeneous. Traditional radio maps

which are constructed offline and updated at a low frequency

cannot reflect the real channel state in time. As a result

they are unable to meet the requirements of dynamic spectrum management

wireless resource scheduling

and low-altitude communication support in terms of both accuracy and timeliness. This challenge is more pronounced in complex mission scenarios

where online sensing and rapid decision-making are especially important. To address this issue

this paper proposes an uncertainty-driven active sensing method for UAV-based spectrum mapping. First

the online radio map updating and path planning processes are jointly modeled as a Markov decision process. The state explicitly includes statistical measures of map uncertainty

UAV position

flight time

target distance

and mission progress

so as to improve the policy's ability to represent environmental changes and mission stages. Second

a pre-trained U-Net is employed to reconstruct the SINR radio map online and to output pixel-level uncertainty estimates. The reduction in uncertainty is used to characterize information gain

which guides the UAV to sense high-value unknown regions with priority. Furthermore

a FiLM-D3QN decision network based on Feature-wise Linear Modulation is designed. It uses uncertainty and mission-progress conditions to dynamically modulate intermediate features and value estimation

thereby achieving an adaptive balance between information acquisition and trajectory efficiency. Simulation results show that

in urban scenarios with dense interference

the proposed method effectively reduces map reconstruction error while maintaining an arrival rate above 90%. The RMSE is reduced by about 7.1% compared with the classical IPP method and by about 9.8% compared with the original D3QN. The proposed method also achieves a shorter average episode length. These results verify its effectiveness for online radio map updating and active sensing in complex urban electromagnetic environments.

关键词

Keywords

references

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