低空UAV集群MIMO-OTFS-NOMA通感控一体化系统及其关键技术研究

李劲夫; 鲁佳星; 邹应全; 黄翀; 王千里; 陈高洁; 范平志

doi:10.12263/DZXB.20260145

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低空UAV集群MIMO-OTFS-NOMA通感控一体化系统及其关键技术研究

面向低空经济的通信感知一体化技术 | 更新时间：2026-10-16

- 低空UAV集群MIMO-OTFS-NOMA通感控一体化系统及其关键技术研究
- Integrated Sensing-Communication-Control System for Low-Altitude UAVs: A MIMO-OTFS-NOMA Framework and Key Enabling Techniques
- 电子学报 2026年54卷第6期页码：2609-2622
- 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：
  
  李劲夫男，1993年7月出生于四川省成都市。现为西南交通大学信息科学与技术学院助理教授。主要研究方向为空天地一体化网络、通感一体化、低空智能网络与自动驾驶等。E-mail: jingfuli@swjtu.edu.cn
  鲁佳星男，2002年4月出生于四川省广安市。现为西南交通大学信息科学与技术学院硕士研究生。主要研究方向为低空经济、通感控一体化等。E-mail: jiagXinLu@my.swjtu.edu.cn
  邹应全男，1975年3月出生于江苏省兴化市。现为西南交通大学信息科学与技术学院副教授。主要研究方向为智能信息采集与控制、自动驾驶技术及新能源技术等。E-mail: zouyingq@home.swjtu.edu.cn
  黄翀男，1989年4月出生于福建省漳州市。现为中山大学柔性电子学院副教授。主要研究方向为智能化无线通信网络、卫星通信、大模型集群推理等。E-mail: huangch277@mail.sysu.edu.cn
  王千里男，1990年12月出生于四川省南充市。现为西南交通大学信息科学与技术学院副教授。主要研究方向为参数估计与检测理论、通感一体化等。中国电子学会会员编号：E190199501M。E-mail: qlwang@swjtu.edu.cn
  陈高洁男，1983年1月出生于陕西省西安市。现为中山大学柔性电子学院副院长、教授。主要研究方向为柔性电子智能感知通信一体化、柔性光电感知与通信、人工智能赋能柔性电子智能系统、空天地一体化通信网络等。中国电子学会会员编号：E190157826S。E-mail: chengj235@mail.sysu.edu.cn
  范平志男，1955年12月生于四川省广汉市。现为西南交通大学信息科学与技术学院首席教授、利兹学院荣誉院长、英国利兹大学客座教授、IEEE终身会士。主要研究方向为高移动性无线通信、多址接入技术、通感一体化、信号设计与编码等。中国电子学会会员编号：E190003399F。E-mail: pzfan@swjtu.edu.cn
- 基金信息：
  
  中央高校基本科研业务费专项资金(2682025CX035);国家自然科学基金(62501498;62301455;U23A20274)
- DOI：10.12263/DZXB.20260145
  中图分类号： TN92;
- 收稿：2026-02-22，
  
  录用：2026-03-12，
  
  纸质出版：2026-06-25
- 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

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