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3D Mobility Models and Analysis for UAVs

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Document pages: 6 pages

Abstract: We present a flexible family of 3D mobility models suitable for unmannedaerial vehicles (UAV). Based on stochastic differential equations, the modelsoffer a unique property of explicitly incorporating the mobility controlmechanism and environmental perturbation, while enabling tractable steady statesolutions for properties such as position and connectivity. Specifically,motivated by UAV flight data, for a symmetric mobility model with an arbitrarycontrol mechanism, we derive the steady state distribution of the distance fromthe target position. We provide closed form expressions for the special casesof the Ornstein-Uhlenbeck (OU) process and on-off control (OC). We extend themodel to incorporate imperfect positioning and asymmetric control. For apractically relevant scenario of partial symmetry (such as in the x-y plane),we present steady state position results for the OU control. Building on theseresults, we derive UAV connectivity probability results based on a SNRcriterion in a Rayleigh fading environment.

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