Unmanned aerial vehicles (UAVs) have been widely used in both military and civilian applications, where a stable communication link is vital for safe flight control and robust data transmission. To develop a reliable UAV communication system, it is necessary to deeply understand the UAV channel characteristics and establish accurate channel models. Channel sounding is the most effective way to obtain realistic channel characteristics and validate the theoretical channel model. However, the studies on UAV channel sounding are still insufficient in terms of system design and data processing due to the complexity of developing a UAV channel sounder. Different from the terrestrial channel sounders, the implementation of a UAV channel sounder is tortured by the limited battery life and payload capacity of the UAV platform. The sounding scheme and data post-processing also need to be specially designed for highly dynamic UAV channels. So far, most existing survey studies on UAV channels focus on modeling methodology and model presentation. To fill this gap, this paper provides a comprehensive survey on the design of the UAV channel sounder, in terms of the hardware scheme, sounding signal, time synchronization, calibration, and data post-processing. Current issues and potential research topics behind existing sounding technologies and measurement campaigns are analyzed. Moreover, future challenges and open issues are also discussed.

With the rapid development and broad applications of unmanned aerial vehicle (UAV) based wireless stations in the sky, fundamental understanding and characterization of the realistic air-to-ground (A2G) communication link properties are crucial. In this paper, a UAV-aided channel sounder with a real-time processing hardware system is developed for highly dynamic and non-stationary A2G channel measurements. In the hardware system, a global positioning system (GPS) -based triggering signal is designed, the equivalent antenna pattern affected by UAV airframe is considered, and an appropriate sounding signal is selected, in order to improve the accuracy of measured channel impulse response (CIR). Moreover, real-time hardware processing algorithms for raw channel data, i.e., CIR extraction, system response elimination (SRE), power loss recovery (PLR), and adaptive multi-path component (MPC) recognition are developed and implemented on a single field-programmable gate array (FPGA) chip. In this way, the required storage size of channel data and the processing time for one slice of CIR is greatly decreased, which can meet the requirement of non-stationary A2G channel measurement with a high sampling rate and long-time measurement. A commercial channel emulator is used to reproduce controllable channels and verify the performance of developed channel sounder. Finally, the developed channel sounder is applied to carry out A2G measurement campaigns at 3.5 GHz in a campus scenario. The channel characteristics, i.e., path loss (PL), K-factor, and path angle are analyzed. The measured channel characteristics are consistent with existing measurements under a similar scenario. The estimated path angles are also validated by the theoretical results. Thus, the channel sounder can be used to capture the non-stationary A2G channel characteristics for the system design and algorithm optimization of A2G communications.

Unmanned aerial vehicle (UAV)-to-ground (U2G) channel models play a pivotal role in reliable communications between UAV and ground terminal. This paper proposes a three-dimensional (3D) non-stationary hybrid model including large-scale and small-scale fading for U2G multiple-input-multiple-output (MIMO) channels. Distinctive channel characteristics under U2G scenarios, i.e., 3D trajectory and posture of UAV, fuselage scattering effect (FSE), and posture variation fading (PVF) are incorporated into the proposed model. The channel parameters, i.e., path loss (PL), shadow fading (SF), path delay, and path angle, are generated incorporating machine learning (ML) and ray tracing (RT) techniques to capture the structure-related characteristics. In order to guarantee the physical continuity of channel parameters such as Doppler phase and path power, the time evolution methods of inter- and intra- stationary intervals are proposed. Key statistical properties, including temporal auto-correction function (ACF), power delay profile (PDP), level crossing rate (LCR), average fading duration (AFD), and stationary interval (SI), are analyzed with the impact of the change of fuselage and posture variation. It is demonstrated that both posture variation and fuselage scattering have crucial effects on channel characteristics. The validity and practicability of the proposed model are verified by comparing the simulation results with the measured ones.

Unmanned aerial vehicle (UAV) millimeter wave (mmWave) technologies can provide flexible link and high data rate for future communication networks. By considering the new features of three-dimensional (3-D) scattering space, 3-D velocity, 3-D antenna array, and especially 3-D rotations, a machine learning (ML)-integrated UAV-to-Vehicle (U2V) mmWave channel model is proposed. Meanwhile, an ML-based network for channel parameter calculation and generation is developed. The deterministic parameters are calculated based on the simplified geometry information, while the random ones are generated by the backpropagation-based neural network (BPNN) and generative adversarial network (GAN), where the training data set is obtained from massive ray-tracing (RT) simulations. Moreover, theoretical expressions of channel statistical properties, i.e., power delay profile (PDP), autocorrelation function (ACF), Doppler power spectrum density (DPSD), and cross-correlation function (CCF), are derived and analyzed. Finally, the U2V mmWave channel is generated under a typical urban scenario at 28 GHz. The generated PDP and DPSD show good agreement with RT-based results, which validates the effectiveness of proposed method. Moreover, the impact of 3-D rotations, which has rarely been reported in previous works, can be observed in the generated CCF and ACF, which are also consistent with the theoretical and measurement results.

A realistic channel model is vital for designing, optimizing, and evaluating unmanned aerial vehicle (UAV)-to-ground (U2G) communication systems. This paper presents a comprehensive U2G ultra-wideband (UWB) channel model by considering the large-scale fading (LSF), including path loss (PL), shadow fading (SF), and airframe shadowing (AS). The effects of carrier frequency, bandwidth, building distribution, and UAV airframe structure on the LSF are fully studied. Different from the traditional bandwidth-independent PL calculation method, an extended closed-form expression for calculating PL is proposed to capture the new characteristics of ultra-wide bandwidth. The SF part is statistically described by a parametric lognormal model, and the built-up scenario-dependent parameters are predicted by a hybrid method with the ray-tracing and virtual scenario technologies. In addition, the AS part with respect to the airframe structure and posture variation is derived. It consists of the direct and reflected path components which are obtained by the deterministic and statistical approaches, respectively. The numerical simulations show that bandwidth, building distribution, and airframe structure have great influence on the LSF characteristics. For example, the fluctuation of received power can reach 30 dB due to the AS. The proposed model also shows its effectiveness and reliability by comparing with the RT and measured data, as well as the good compatibility with standardized models for some typical scenarios.

Line-of-sight (LoS) path is essential for the reliability of air-to-ground (A2G) communications, but the existence of the LoS path is difficult to predict due to random obstacles on the ground. Based on the statistical geographic information and Fresnel clearance zone, a general stochastic LoS probability model for 3-D A2G channels under urban scenarios is developed. By considering the factors, that is, building height distribution, building width, building space, carrier frequency, and transceiver’s heights, the proposed model is suitable for different frequencies and altitudes. Moreover, in order to get a closed-form expression and reduce the computational complexity, an approximate parametric model is also built with the machine-learning (ML) method to estimate the model parameters. The simulation results show that the proposed model has good consistency with existing models at low altitude. When the altitude increases, it has a better performance by comparing with that of the ray-tracing (RT) Monte-Carlo simulation data. The analytical results of the proposed model are helpful for the channel modeling and performance analyses such as cell coverage, outage probability, and bit error rate in A2G communications.