Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz Communications
mmWave/THz communications depend on highly focused and directive narrow beams. Accurate prediction of the beam’s spatial location and attitude in space, as well as the time it takes to reach its ultra-high-speed coverage area, referred to as the ultra-spot, is crucial for uncrewed aerial...
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2025-01-01
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| author | Phuc Duc Nguyen Ryosuke Isogai Keitarou Kondou Yozo Shoji |
| author_facet | Phuc Duc Nguyen Ryosuke Isogai Keitarou Kondou Yozo Shoji |
| author_sort | Phuc Duc Nguyen |
| collection | DOAJ |
| description | mmWave/THz communications depend on highly focused and directive narrow beams. Accurate prediction of the beam’s spatial location and attitude in space, as well as the time it takes to reach its ultra-high-speed coverage area, referred to as the ultra-spot, is crucial for uncrewed aerial vehicles (UAVs) to adjust their flight direction and approach velocity. This adjustment increases the likelihood of successful communication between UAVs. This paper introduces a novel approach for detecting these ultra-spots using real-time kinematic (RTK)-GNSS and inertial measurement unit (IMU) sensor fusion positioning powered by an extended Kalman filter (RTK-GNSS-EKF). To achieve this, we implemented a mechanism that exchanges six degrees of freedom (6-DOF) information of positions among UAVs via a 920MHz wireless communication link. Additionally, we propose an algorithm that accurately estimates the time and distance from the in-flight UAV to the ultra-spot. For the first time, this work investigates the real-world 6-DOF fluctuations in position, velocity, and attitude experienced by an in-flight UAV due to wind, and analyzes the impact of these fluctuations on the ultra-spot prediction issue. Additionally, we analyze scenarios where the ultra-spot alters its attitude by actively changing the antenna angle, assessing the consequent effects on the volume of data transmitted and received at the ultra-spot. We demonstrate the effectiveness of the proposed method by simulation and verification with actual UAV-to-UAV and UAV-to-ground-station field experiments. Experimental results indicate an average ultra-spot detection accuracy of 172ms in time and 32.7cm in distance, with measurements taken 1s before the UAV’s actual approach to the ultra-spot. These findings confirm the feasibility of the proposed method for detecting mobile ultra-spots in UAV-to-UAV mmWave communication. |
| format | Article |
| id | doaj-art-71bda0cebad1432e87e05f94343b2461 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-71bda0cebad1432e87e05f94343b24612025-08-20T03:29:34ZengIEEEIEEE Access2169-35362025-01-011310694210695710.1109/ACCESS.2025.358078111039836Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz CommunicationsPhuc Duc Nguyen0https://orcid.org/0000-0002-7136-8924Ryosuke Isogai1https://orcid.org/0009-0001-3743-4262Keitarou Kondou2https://orcid.org/0009-0006-2762-8895Yozo Shoji3https://orcid.org/0000-0003-3523-9620Social-ICT System Laboratory, Beyond 5G Research and Development Promotion Unit, National Institute of Information and Communications Technology (NICT), Koganei, JapanSocial-ICT System Laboratory, Beyond 5G Research and Development Promotion Unit, National Institute of Information and Communications Technology (NICT), Koganei, JapanSocial-ICT System Laboratory, Beyond 5G Research and Development Promotion Unit, National Institute of Information and Communications Technology (NICT), Koganei, JapanSocial-ICT System Laboratory, Beyond 5G Research and Development Promotion Unit, National Institute of Information and Communications Technology (NICT), Koganei, JapanmmWave/THz communications depend on highly focused and directive narrow beams. Accurate prediction of the beam’s spatial location and attitude in space, as well as the time it takes to reach its ultra-high-speed coverage area, referred to as the ultra-spot, is crucial for uncrewed aerial vehicles (UAVs) to adjust their flight direction and approach velocity. This adjustment increases the likelihood of successful communication between UAVs. This paper introduces a novel approach for detecting these ultra-spots using real-time kinematic (RTK)-GNSS and inertial measurement unit (IMU) sensor fusion positioning powered by an extended Kalman filter (RTK-GNSS-EKF). To achieve this, we implemented a mechanism that exchanges six degrees of freedom (6-DOF) information of positions among UAVs via a 920MHz wireless communication link. Additionally, we propose an algorithm that accurately estimates the time and distance from the in-flight UAV to the ultra-spot. For the first time, this work investigates the real-world 6-DOF fluctuations in position, velocity, and attitude experienced by an in-flight UAV due to wind, and analyzes the impact of these fluctuations on the ultra-spot prediction issue. Additionally, we analyze scenarios where the ultra-spot alters its attitude by actively changing the antenna angle, assessing the consequent effects on the volume of data transmitted and received at the ultra-spot. We demonstrate the effectiveness of the proposed method by simulation and verification with actual UAV-to-UAV and UAV-to-ground-station field experiments. Experimental results indicate an average ultra-spot detection accuracy of 172ms in time and 32.7cm in distance, with measurements taken 1s before the UAV’s actual approach to the ultra-spot. These findings confirm the feasibility of the proposed method for detecting mobile ultra-spots in UAV-to-UAV mmWave communication.https://ieeexplore.ieee.org/document/11039836/UAV communicationmmWave communicationTerahertz communicationbeam alignment |
| spellingShingle | Phuc Duc Nguyen Ryosuke Isogai Keitarou Kondou Yozo Shoji Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz Communications IEEE Access UAV communication mmWave communication Terahertz communication beam alignment |
| title | Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz Communications |
| title_full | Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz Communications |
| title_fullStr | Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz Communications |
| title_full_unstemmed | Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz Communications |
| title_short | Prediction of Ultra-High-Speed Spots Using RTK-GNSS Sensor Fusion for UAV-to-UAV mmWave/THz Communications |
| title_sort | prediction of ultra high speed spots using rtk gnss sensor fusion for uav to uav mmwave thz communications |
| topic | UAV communication mmWave communication Terahertz communication beam alignment |
| url | https://ieeexplore.ieee.org/document/11039836/ |
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