面向机器救援的天地一体广域快响通信：闭环模型与系统设计

雷城乐阳; 冯伟; 葛宁

doi:10.11959/j.issn.2096-3750.2025.00484

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面向机器救援的天地一体广域快响通信：闭环模型与系统设计

专题：卫星物联网 | 更新时间：2025-04-21

- 面向机器救援的天地一体广域快响通信：闭环模型与系统设计
- Satellite-terrestrial-integrated wide-area quick-response communications for machine rescue: closed-loop model and systematic design
- 物联网学报 2025年9卷第1期页码：41-49
- 作者机构：
  
  1.清华大学电子工程系，北京 100084
  2.清华大学天基网络与通信全国重点实验室，北京 100084
- 作者简介：
  
  [ "雷城乐阳（1999‒ ），男，清华大学电子工程系博士生，主要研究方向为卫星无人机通信、机器通信等。" ]
  [ "冯伟（1982‒ ），男，博士，清华大学电子工程系研究员，主要研究方向为天地一体6G移动通信、海域物联网、卫星互联网等。" ]
  [ "葛宁（1971‒ ），男，博士，清华大学电子工程系研究员，主要研究方向为通信片上系统、短距离无线通信、卫星通信等。" ]
- 基金信息：
  
  国家自然科学基金资助项目(62425110;U22A2002);国家重点研发计划(2020YFA0711301)
- DOI：10.11959/j.issn.2096-3750.2025.00484
  中图分类号： TN927;
- 收稿日期：2025-02-25，
  
  修回日期：2025-03-18，
  
  纸质出版日期：2025-03-30
- 稿件说明：
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雷城乐阳,冯伟,葛宁.面向机器救援的天地一体广域快响通信：闭环模型与系统设计[J].物联网学报,2025,09(01):41-49.

LEI Chengleyang,FENG Wei,GE Ning.Satellite-terrestrial-integrated wide-area quick-response communications for machine rescue: closed-loop model and systematic design[J].Chinese Journal on Internet of Things,2025,09(01):41-49.
雷城乐阳,冯伟,葛宁.面向机器救援的天地一体广域快响通信：闭环模型与系统设计[J].物联网学报,2025,09(01):41-49. DOI： 10.11959/j.issn.2096-3750.2025.00484.

LEI Chengleyang,FENG Wei,GE Ning.Satellite-terrestrial-integrated wide-area quick-response communications for machine rescue: closed-loop model and systematic design[J].Chinese Journal on Internet of Things,2025,09(01):41-49. DOI： 10.11959/j.issn.2096-3750.2025.00484.

摘要

随着人工智能和自动化技术的不断发展，越来越多的机器被应用于环境恶劣或危险系数高的应急救灾活动。利用地面基站、卫星、无人机（UAV

unmanned aerial vehicle）等设施构建天地一体广域快响通信网络、为救援机器搭建“神经系统”面临着迫切的需求。机器救援通常依赖现场感知、通信、态势计算和控制4个环节，通常以类似反射弧的“感传算控”（SC

sensing-communication-computing-control）闭环形式开展作业。因此，提出了面向“感传算控”闭环结构的广域快响通信设计新思路。首先，综合考虑“感传算控”闭环中各个环节的耦合关系，提出基于环路负熵的“熵匹配”模型，优化闭环控制性能指标。在此基础上，进一步研究多闭环并行作业以及复杂耦合时通信系统的设计准则。典型参数下的仿真结果表明，所提的系统设计方法以闭环结构为基本单元，可有效地兼顾异构环节，并更直接地优化了机器救援效果，相比传统的面向链路的通信系统设计模式，显著地提升了网络效能。

Abstract

With the development of artificial intelligence and automation technologies

an increasing number of machines are being applied in emergency rescue operations in harsh or high-risk environments. This makes it necessary to develop satellite-terrestrial-integrated wide-area rapid-response communication networks based on ground bases

unmanned aerial vehicles

and satellites

so as to build a "nervous system" for rescue machines. Machine rescue typically relies on four key components: on-site sensing

communication

situational computing

and control

which operate in reflex-arc-like sensing-communication-computing-control (SC

) closed loops. Therefore

a new

wide-area quick-response communication design approach was proposed

which oriented SC

-closed-loop structures. Firstly

by considering the coupling of the different components in the SC

closed loops

an "entropy matching" model based on closed-loop negentropy was proposed to optimize closed-loop control performance. Based on the proposed model

the design principles for communication systems in scenarios involving parallel operation and complex couplings of multiple SC

loops were further explored. Simulation results under typical parameters demonstrate that the proposed system design approach that focuses on the close loop structure as the fundamental unit

can effectively integrate heterogeneous components and optimize the performance of machine rescue

thus greatly improving the network efficiency compared with the traditional communication-link-oriented design method.

关键词

Keywords

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