Paper detail

3D Mobility Models and Analysis for UAVs

We present a flexible family of 3D mobility models suitable for unmanned aerial vehicles (UAV). Based on stochastic differential equations, the models offer a unique property of explicitly incorporating the mobility control mechanism and environmental perturbation, while enabling tractable steady state solutions for properties such as position and connectivity. Specifically, motivated by UAV flight data, for a symmetric mobility model with an arbitrary control mechanism, we derive the steady state distribution of the distance from the target position. We provide closed form expressions for the special cases of the Ornstein-Uhlenbeck (OU) process and on-off control (OC). We extend the model to incorporate imperfect positioning and asymmetric control. For a practically relevant scenario of partial symmetry (such as in the x-y plane), we present steady state position results for the OU control. Building on these results, we derive UAV connectivity probability results based on a SNR criterion in a Rayleigh fading environment.