信号处理2026，Vol.42Issue(5)：732-744,13.DOI:10.12466/xhcl.2026.05.009
多无人机通感一体化系统的协同感知方法研究
Research on Cooperative Method of Multi-UAV Integrated Sensing and Communication System
摘要
Abstract
The low-altitude economy(LAE)is expected to drive the large-scale deployment of low-altitude applications in fields such as transportation,environmental monitoring,agricultural production,and cultural entertainment,while generating remarkable economic and social value.As a key enabling technology for sixth-generation mobile communica-tion,integrated sensing and communication(ISAC)is recognized as an important technical pathway to supporting the development of the LAE.Benefiting from the advantages of high-altitude deployment and high mobility,using an un-manned aerial vehicle(UAV)as an aerial base station to provide ISAC services for both ground and aerial users can ef-fectively enhance the coverage capability of communication and sensing.However,traditional monostatic ISAC systems perform signal transmission and echo reception simultaneously on the same device,making them vulnerable to severe self-interference,which significantly impairs the performance of both the communication and sensing functions.To ad-dress these issues,this study investigates a multi-UAV-ISAC system for cooperative target localization and communica-tion,in which distributed sensing UAVs cooperatively transmit ISAC signals to a central UAV,enabling centralized pro-cessing of sensing echoes.Based on this system architecture,this study derives the Cramer-Rao lower bound(CRLB)for distance estimation in cooperative target localization,and formulates an ISAC-UAV selection problem for CRLB minimization under the constraints of the UAV cooperation cost and communication signal-to-interference-plus-noise ra-tio(SINR).Based on this approach,a symbol-level fusion method for multi-UAV sensing information is designed,which effectively improves the cooperative sensing accuracy by performing weighted fusion on the symbol information matrices of multiple UAVs.Numerical simulation results verified the significant advantages of the proposed multi-UAV-ISAC cooperative sensing scheme in target localization.The findings provide a theoretical basis and practical reference for the design and deployment of large-scale UAV swarm cooperative sensing systems.关键词
通感一体化/协同感知/目标定位/UAV选择/符号级融合Key words
integrated sensing and communication/cooperative sensing/target localization/UAV selection/symbol-level fusion分类
信息技术与安全科学引用本文复制引用
李怡恒,李鑫,史策,林德平,尉志青,郑戈..多无人机通感一体化系统的协同感知方法研究[J].信号处理,2026,42(5):732-744,13.基金项目
航天科技自主研发项目(天科研[2024]900号) Aerospace Science and Technology Independent Research and Development Project(Tian Keyan[2024]No.900) （天科研[2024]900号）
