移动通信2026，Vol.50Issue(9)：54-64,11.DOI:10.3969/j.issn.1006-1010.20260705-0002
低空通感网络中运动状态传感器辅助的同步定位与散射环境建图
Motion-State-Sensor-Assisted Simultaneous Localization and Scattering Environment Mapping in Low-Altitude Integrated Sensing and Communication Networks
摘要
Abstract
With the widespread application of the low-altitude economy and unmanned aerial vehicles(UAVs),low-altitude integrated sensing and communication(ISAC)networks have an increasingly urgent demand for high-precision 3D localization and scattering environment mapping.To address the problems of complex multi-slot joint inference,difficulty in maintaining environmental representation consistency,and insufficient inter-slot prior propagation in existing simultaneous localization and mapping(SLAM)methods under complex low-altitude channels and dynamic scatterer birth-death,this paper proposes a motion state sensor-assisted SLAM method.By exploiting velocity,acceleration,and altitude priors provided by commonly equipped motion state sensors,the multi-slot Bayesian inference problem is decomposed into per-slot subproblems with temporal message passing,and solved by an expectation-maximization based subspace-constrained successive linear approximation variational Bayesian inference algorithm to reduce computational complexity and improve localization and mapping robustness in dynamic scenarios.Simulation results show that the proposed method outperforms classical methods and achieves more accurate localization of both UAV terminals and scatterers.关键词
低空通感网络/同步定位/散射环境建图/运动状态传感器/变分贝叶斯推理Key words
low-altitude integrated sensing and communication networks/simultaneous localization/scattering environment mapping/motion-state sensors/variational Bayesian inference分类
信息技术与安全科学引用本文复制引用
欧永康,刘安,徐伟..低空通感网络中运动状态传感器辅助的同步定位与散射环境建图[J].移动通信,2026,50(9):54-64,11.基金项目
国家自然科学基金项目"多时空尺度的超高维无线信道外推预测理论与方法"(62571482) （62571482）
