cahtНаучный вестник МГТУ ГАCivil Aviation High Technologies2079-06192542-0119Moscow State Technical University of Civil Aviation (MSTU CA)10.26467/2079-0619-2021-24-2-70-92caht-1809Research ArticleТРАНСПОРТTRANSPORTКлючевые технологии связи для поддержки систем управления движением гражданских беспилотных летательных аппаратов (обзор зарубежной литературы)Key wireless communication technologies to support traffic management systems of unmanned aerial vehicles for civil application (review of foreign literature)ВиноградовЕ. А.VinogradovE. A.

Виноградов Евгений Алексеевич, доктор философии (PhD), научный сотрудник кафедры электротехники факультета Инженерно-технических наук

Левен

Evgenii А. Vinogradov, Doctor of Philosophy (PhD), Researcher, Electrical Engineering Chair, Faculty of Engineering

Leuven

evgenii.vinogradov@kuleuven.beКатолический университет ЛевенаБельгияKU LeuvenBelgium2021240420212427092Copyright © Виноградов Е.А., 20212021Виноградов Е.А.Vinogradov E.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://avia.mstuca.ru/jour/article/view/1809

Ожидается, что к 2035 году в Российском небе будут одновременно находиться не менее ста тысяч беспилотных летательных аппаратов (БЛА). Такая численность флота БЛА делает необходимым создание систем информационной поддержки, контроля и управления полетами БЛА (англ. Unmanned Aircraft System Traffic Management – UTM), подобных той, что уже существует для пилотной авиации. Проблемы, возникающие перед авиационным сообществом, не могут быть решены без помощи беспроводной связи. Целями данной статьи являются ознакомление специалистов связи с последними достижениями гражданской беспилотной авиации и описание проблем телекоммуникационного характера, стоящих перед разработчиками масштабных систем управления БЛА. Представлены архитектура и главные функции систем UTM, а также примеры их практической реализации. Особое внимание уделено повышению безопасности полетов путем рационального выбора технологий связи для осуществления управления конфликтными ситуациями (также известного как «избежание столкновений»). Проанализирована практичность применения широкого спектра беспроводных технологий: от Wi-Fi и автоматического зависимого наблюдения радиовещательного типа (АЗН-В) до сотовых сетей пятого поколения 5G, а также бессотовых сетей (англ. cell-free), являющихся кандидатами для создания сетей связи шестого поколения 6G. В результате проведенного анализа сформирован список перспективных направлений исследований на стыке областей беспроводной связи и гражданской беспилотной авиации.

Not less than one hundred thousand Unmanned Aerial Vehicles (UAVs) are expected to perform flights simultaneously in Russia by 2035. The UAV fleet capacity triggers the development of the systems for informational support, operating control and management of UAV flights (Unmanned Aircraft System Traffic Management (UTM) systems) similar to that one already operating in manned aviation. The challenges arising in the sphere of civil aviation cannot be solved without wireless communication. The goals of this article are as follows: 1) familiarization of communication experts with the latest scientific developments of unmanned aerial technologies 2) description of the telecommunication-related problems of extensive systems of UAV control encountered by development engineers. In this article a schematic architecture and main functions of UTM systems are described as well as the examples of their implementation. Special emphasis is put on enhancing flight safety by means of a rational choice of communication technologies to manage conflicts (Conflict Management) known as "collision avoidance". The article analyzes the application of a wide range of wireless technologies ranging from Wi-Fi and Automatic Dependent Surveillance Broadcast (ADS-B) to 5G cellular networks as well as cell-free networks contributing to the development of 6G communication networks. As a result of the analysis, a list of promising research trends at the intersection of the fields of wireless communication and UAVs for civil application is made.

беспилотный летательный аппараторганизация воздушного движенияуправление конфликтными ситуациямибеспроводная связь5GИКАОUnmanned Aerial Vehicles (UAVs)Unmanned Aircraft System Traffic Management (UTM)conflict management5GICAOReferencesDoole M., Ellerbroek J., Hoekstra J. Drone delivery: urban airspace traffic density estimation // Eighth SESAR Innovation Days, 3–7 December 2018. 8 p.Doole, M., Ellerbroek, J. and Hoekstra, J. (2018). Drone delivery: urban airspace traffic density estimation. Eighth SESAR Innovation Days, 8 p.Haddad C. Factors affecting the adoption and use of urban air mobility / C. Haddad, E. Chaniotakis, A. Straubinger, K. Plötner, C. Antoniou // Transportation Research Part A: Policy and Practice. 2020. Vol. 132. Pp. 696–712. DOI: 10.1016/j.tra.2019.12.020Haddad, C., Chaniotakis, E., Straubinger, A., Plötner, K. and Antoniou, C. (2020). Factors affecting the adoption and use of urban air mobility. Transportation Research Part A: Policy and Practice, vol. 132, pp. 696–712. DOI: 10.1016/j.tra.2019.12.020PytlikZillig L.M. Public opinions of unmanned aerial technologies in 2014–2019: a technical and descriptive report / L.M. PytlikZillig, J.C. Walther, C. Detweiler, S. Elbaum, A. Houston [Электронный ресурс] // University of Nebraska Public Policy Center, Lincoln. 2020. URL: https://digitalcommons.unl.edu/cgi/viewcontent.cgi?article=1000&context=lpz (дата обращения: 10.11.2020).PytlikZillig, L.M., Walther, J.C., Detweiler, C., Elbaum, S. and Houston, A. (2020). Public opinions of unmanned aerial technologies in 2014-2019: a technical and descriptive report. University of Nebraska Public Policy Center, Lincoln. Available at: https://digitalcommons.unl.edu/cgi/viewcontent.cgi?article=1000&context=lpz (accessed 10.11.2020).Cohn P. Commercial drones are here: the future of unmanned aerial systems / P. Cohn, A. Green, M. Langstaff, M. Roller [Электронный ресурс] // McKinsey&Company. 2017. URL: https://www.mckinsey.com/industries/travel-logistics-and-infrastructure/our-insights/commercialdrones-are-here-the-future-of-unmanned-aerial-systems (дата обращения: 10.11.2020).Cohn, P., Green, A., Langstaff, M. and Roller, M. (2017). Commercial drones are here: the future of unmanned aerial systems. McKinsey&Company. Available at: https://www.mckinsey.com/industries/travel-logistics-and-infrastructure/our-insights/commercialdrones-are-here-the-future-of-unmanned-aerial-systems (accessed 10.11.2020).Sandvik K.B. African drone stories // BEHEMOTH – A Journal on Civilisation. 2015. Vol. 8, no. 2. Pp. 73–96. DOI: 10.6094/behemoth.2015.8.2.870Sandvik, K.B. (2015). African drone stories. BEHEMOTH – A Journal on Civilisation, vol. 8, no. 2, pp. 73–96. DOI: 10.6094/behemoth.2015.8.2.870Безбородова О.Е. Экономические и правовые вопросы использования беспилотных воздушных судов для обеспечения техносферной безопасности / О.Е. Безбородова, В.В. Шерстнев, О.С. Виноградов, Н.А. Виноградова // Fortus: экономические и политические исследования. 2018. № 2 (2). С. 19–26.Bezborodova, O.E., Sherstnev, V.V., Vinogradov, O.S. and Vinogradova, N.A. (2018). Economic and legal issues of the use of wrong motor aircraft to ensure technosphere safety. Fortus: Economy & Political Researches, no. 2 (2), pp. 19–26. (in Russian)Vinogradov E., Minucci F., Pollin S. Wireless communication for safe UAVs: from longrange deconfliction to short-range collision avoidance // IEEE Vehicular Technology Magazine. 2020. Vol. 15, iss. 2. Pp. 88–95. DOI: 10.1109/MVT.2020.2980014Vinogradov, E., Minucci, F. and Pollin, S. (2020). Wireless communication for safe UAVs: from long-range deconfliction to short-range collision avoidance. IEEE Vehicular Technology Magazine, vol. 15, issue 2, pp. 88–95. DOI: 10.1109/MVT.2020.2980014Motlagh N.H., Taleb T., Arouk O. Low-altitude unmanned aerial vehicles-based internet of things services: comprehensive survey and future perspectives // IEEE Internet of Things Journal. 2016. Vol. 3, iss. 6. Pp. 899–922. DOI: 10.1109/JIOT.2016.2612119Motlagh, N.H., Taleb, T. and Arouk, O. (2016). Low-altitude unmanned aerial vehiclesbased internet of things services: comprehensive survey and future perspectives. IEEE Internet of Things Journal, vol. 3, issue 6, pp. 899–922. DOI: 10.1109/JIOT.2016.2612119Gupta L., Jain R., Vaszkun G. Survey of important issues in UAV communication networks [Электронный ресурс] // IEEE Communications Surveys & Tutorials. 2016. Vol. 18, iss. 2. Pp. 1123–1152. DOI: 10.1109/COMST.2015.2495297 (дата обращения: 10.11.2020).Gupta, L., Jain, R. and Vaszkun, G. (2016). Survey of important issues in UAV communication networks. IEEE Communications Surveys & Tutorials, vol. 18, issue 2, pp. 1123–1152. DOI: 10.1109/COMST.2015.2495297 (accessed 10.11.2020).Hayat S., Yanmaz E., Muzaffar R. Survey on unmanned aerial vehicle networks for civil applications: a communications viewpoint [Электронный ресурс] // IEEE Communications Surveys & Tutorials. 2016. Vol. 18, iss. 4. Pp. 2624–2661. DOI: 10.1109/COMST.2016.2560343 (дата обращения: 10.11.2020).Hayat, S., Yanmaz, E. and Muzaffar, R. (2016). Survey on unmanned aerial vehicle networks for civil applications: a communications viewpoint. IEEE Communications Surveys & Tutorials, vol. 18, issue 4, pp. 2624–2661. DOI: 10.1109/COMST.2016.2560343 (accessed 10.11.2020).Zeng Y., Wu Q., Zhang R. Accessing from the sky: a tutorial on UAV communications for 5G and beyond // Proceedings of the IEEE. 2019. Vol. 107, iss. 12. Pp. 2327–2375. DOI: 10.1109/JPROC.2019.2952892Zeng, Y., Wu, Q. and Zhang, R. (2019). Accessing from the sky: a tutorial on UAV communications for 5G and beyond. Proceedings of the IEEE, vol. 107, issue 12, pp. 2327–2375. DOI: 10.1109/JPROC.2019.2952892Mozaffari M. A tutorial on UAVs for wireless networks: applications, challenges, and open problems / M. Mozaffari, W. Saad, M. Bennis, Y. Nam, M. Debbah [Электронный ресурс] // IEEE Communications Surveys & Tutorials. 2019. Vol. 21, iss. 3. Pp. 2334–2360. DOI: 10.1109/COMST.2019.2902862 (дата обращения: 14.11.2020).Mozaffari, M., Saad, W., Bennis, M., Nam, Y. and Debbah, M. (2019). A tutorial on UAVs for wireless networks: applications, challenges, and open problems. IEEE Communications Surveys & Tutorials, vol. 21, issue 3, pp. 2334–2360. DOI: 10.1109/COMST.2019.2902862 (accessed 14.11.2020).Vinogradov E. Tutorial on UAVs: a blue sky view on wireless communication / E. Vinogradov, H. Sallouha, S. De Bast, M.M. Azari, S. Pollin // Journal of Mobile Multimedia. 2020. Vol. 14, iss. 4. Pp. 395–468. DOI: 10.13052/jmm1550-4646.1443Vinogradov, E., Sallouha, H., De Bast, S., Azari, M.M. and Pollin, S. (2020). Tutorial on UAVs: a blue sky view on wireless communication. Journal of Mobile Multimedia, vol. 14, issue 4, pp. 395–468. DOI: 10.13052/jmm1550-4646.1443Бондарев А.Н., Киричек Р.В. Обзор беспилотных летательных аппаратов общего пользования и регулирования воздушного движения БПЛА в разных странах [Электронный ресурс] // Информационные технологии и телекоммуникации. 2016. Т. 4, № 4. С. 13–23. URL: https://www.sut.ru/doci/nauka/review/20164/13-23.pdf (дата обращения: 14.11.2020).Bondarev, A.N. and Kirichek, R.V. (2016). Overview of unmanned aerial apparatus for general use and regulation of air UAV movement in different countries. Telecom IT, vol. 4, no. 4, pp. 13–23. Available at: https://www.sut.ru/doci/nauka/review/20164/13-23.pdf (accessed 14.11.2020). (in Russian)Пантелеймонов И.Н. Основные направления создания высоконадежной системы связи и управления БПЛА / И.Н. Пантелеймонов, А.В. Белозерцев, А.А. Монастыренко, В.В. Боцва, А.В. Наумкин // Известия высших учебных заведений. Машиностроение. 2020. № 6 (723). С. 78–88. DOI: 10.18698/0536-1044-2020-6-78-88Panteleymonov, I.N., Belozertsev, A.V., Monastyrenko, А.А., Botsva, V.V. and Naumkin, A.V. (2020). The main trends in developing highly reliable communication and control systems for unmanned aerial vehicles. BMSTU Journal of Mechanical Engineering, no. 6 (723), pp. 78–88. DOI: 10.18698/0536-1044-2020-6-78-88 (in Russian)Braun S., Friedewald M., Valkenburg G. Civilizing drones: military discourses going civil? // Science & Technology Studies. 2015. Vol. 28, no. 2. Pp. 73–87. DOI: 10.23987/sts.55351Braun, S., Friedewald, M. and Valkenburg, G. (2015). Civilizing drones: military discourses going civil? Science & Technology Studies, vol. 28, no. 2, pp. 73–87. DOI: 10.23987/sts.55351Веремеенко К.К. Современные информационные технологии в задачах навигации и наведения беспилотных маневренных летательных аппаратов / К.К. Веремеенко, С.Ю. Желтов, Д.А. Козорез, М.Н. Красильщиков, Н.В. Ким и др. / Под ред. М.Н. Красильщикова, Г.Г. Себрякова. М.: ФИЗМАТЛИТ, 2009. 556 с.Veremeenko, K.K., Zheltov, S.Yu., Kozorez, D.A., Krasilshchikov, M.N. and others. (2009). Sovremennyye informatsionnye technologii v zadachakh navigatsii i navedeniya bespilotnykh manevrennykh letatelnykh apparatov [Modern IT for UAV navigation and targeting], in M.N. Krasilshchikov, G.G. Sebryakov (Eds.). Moscow: FIZMATLIT, 556 p. (in Russian)Верба В.С., Татарский Б.Г. Комплексы с беспилотными летательными аппаратами. В 2-х кн.: Кн. 1. Принципы построения и особенности применения комплексов с БЛА: монография / Под ред. В.С. Вербы, Б.Г. Татарского. М.: Радиотехника, 2016. 512 с.Verba, V.S. and Tatarsky, B.G. (2016). Kompleksy s bespilotnymi letatelnymi apparatami v 2-kh knigakh: Monografiya [Complexes with unmanned aerial vehicles in 2 books: Monograph]. Kniga 1. Printsipy postroeniya i osobennosti primeneniya kompleksov s BLA [Principles of construction and usage features of complexes with UAVs]. Moscow: Radiotekhnika, 512 p. (in Russian)Верба В.С., Татарский Б.Г. Комплексы с беспилотными летательными аппаратами. В 2-х кн.: Кн. 2. Робототехнические комплексы на основе БЛА: монография / Под ред. В.С. Вербы, Б.Г. Татарского. М.: Радиотехника, 2016. 824 с.Verba, V.S. and Tatarsky, B.G. (2016). Kompleksy s bespilotnymi letatelnymi apparatami v 2-kh knigakh: Monografiya [Complexes with unmanned aerial vehicles in 2 books: Monograph]. Kniga 2. Robototehnicheskie kompleksy na osnove BLA [Robotic systems based on UAVs]. Moscow: Radiotekhnika, 824 p. (in Russian)Kopardekar P. Unmanned aircraft system traffic management (UTM) concept of operations / P. Kopardekar, J. Rios, T. Prevot, M. Johnson, J. Jung, J.E. Robinson // 16th AIAA Aviation Technology Integration and Operations Conference. Washington, D.C., 13–17 June 2016. DOI: 10.2514/6.2016-3292Kopardekar, P., Rios, J., Prevot, T., Johnson, M., Jung, J. and Robinson, J.E. (2016). Unmanned aircraft system traffic management (UTM) concept of operations. 16th AIAA Aviation Technology Integration and Operations Conference, Jun. 2016. DOI: 10.2514/6.2016-3292Lappas V. EuroDRONE, a european UTM testbed for U-Space / V. Lappas, G. Zoumponos, V. Kostopoulos, H. Shin and others // International Conference on Unmanned Aircraft Systems (ICUAS). Athens, Greece, 1–4 September 2020. Pp. 1766–1774.Lappas, V., Zoumponos, G., Kostopoulos, V., Shin, H. and others. (2020). EuroDRONE, a european UTM testbed for U-Space. International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, pp. 1766–1774.Kunzi F. Framework for risk-based derivation of performance and interoperability requirements for UTM avionics // IEEE/AIAA 35th Digital Avionics Systems Conference (DASC). Sacramento, CA, 2016. Pp. 1–10. DOI: 10.1109/DASC.2016.7778050Kunzi, F. (2016). Framework for risk-based derivation of performance and interoperability requirements for UTM avionics. IEEE/AIAA 35th Digital Avionics Systems Conference (DASC), Sacramento, CA, pp. 1–10. DOI: 10.1109/DASC.2016.7778050Belkhouche F. Modeling and calculating the collision risk for air vehicles // IEEE Transactions on Vehicular Technology. 2013. Vol. 62, no. 5. Pp. 2031–2041. DOI: 10.1109/TVT.2013.2238265Belkhouche, F. (2013). Modeling and calculating the collision risk for air vehicles. IEEE Transactions on Vehicular Technology, vol. 62, no. 5, pp. 2031–2041. DOI: 10.1109/TVT.2013.2238265Weinert A. Well-clear recommendation for small unmanned aircraft systems based on unmitigated collision risk / A. Weinert, S. Campbell, A. Vela, D. Schuldt, J. Kurucar // Journal of Air Transportation. 2018. Vol. 26, no. 3. Pp. 113–122. DOI: 10.2514/1.D0091Weinert, A., Campbell, S., Vela, A., Schuldt, D. and Kurucar, J. (2018). Well-clear recommendation for small unmanned aircraft systems based on unmitigated collision risk. Journal of Air Transportation, vol. 26, no. 3, pp. 113–122. DOI: 10.2514/1.D0091Schroth F. The DRL sets world record with drone whizzing at 179.6 mph [Электронный ресурс] // dronelife. 2017. URL: https://dronelife.com/2017/07/14/drone-racing-league-drl-buildsfastest-racing-drone/#:~:text=The%20fastest%20racing%20drone%2C%20the,46%2C000%20RPMs (дата обращения: 20.11.2020).Schroth, F. (2017). The DRL sets world record with drone whizzing at 179.6 mph. dronelife. 2017. Available at: https://dronelife.com/2017/07/14/drone-racing-league-drl-buildsfastest-racing-drone/#:~:text=The%20fastest%20racing%20drone%2C%20the,46%2C000%20RPMs (accessed 20.11.2020).Johnson S.C., Petzen A., Tokotch D. Exploration of detect-and-avoid and well-clear requirements for small UAS maneuvering in an urban environment // 17th AIAA Aviation Technology, Integration, and Operations Conference. Denver, Colorado 5–9 June 2017. DOI: 10.2514/6.2017-3074Johnson, S.C., Petzen, A. and Tokotch, D. (2017). Exploration of detect-and-avoid and well-clear requirements for small UAS maneuvering in an urban environment. 17th AIAA Aviation Technology, Integration, and Operations Conference, June 2017. DOI: 10.2514/6.2017-3074Geister D. Concept for urban airspace integration DLR U-Space blueprint [Электронный ресурс] // Deutsches Zentrum für Luft-und Raumfahrt. 2017. URL: https://www.dlr.de/dlr/presse/Portaldata/1/Resources/documents/2017/Concept_for_Urban_Airspace_Integration.pdf (дата обращения: 20.11.2020).Geister, D. (2017). Concept for urban airspace integration DLR U-Space blueprint. Deutsches Zentrum für Luft-und Raumfahrt. Available at: https://www.dlr.de/dlr/presse/Portaldata/1/Resources/documents/2017/Concept_for_Urban_Airspace_Integration.pdf (accessed 20.11.2020).Косьянчук В.В., Сельвесюк Н.И., Хамматов Р.Р. Обзор основных путей повышения безопасности системы АЗН-В // Научный Вестник МГТУ ГА. 2019. Т. 22, № 1. С. 39–50. DOI: 10.26467/2079-0619-2019-22-1-39-50Kosianchuk, V.V., Selvesiuk, N.I. and Khammatov, R.R. (2019). An overview of the main ways to improve the ads-b system security. Civil Aviation High Technologies, vol. 22, no. 1, pp. 39–50. DOI: 10.26467/2079-0619-2019-22-1-39-50 (in Russian)Colpaert A., Vinogradov E., Pollin S. Aerial coverage analysis of cellular systems at LTE and mmWave frequencies using 3D city models [Электронный ресурс] // Sensors. 2018. Vol. 18, no. 12. ID 4311. DOI: 10.3390/s18124311 (дата обращения: 20.11.2020).Colpaert, A., Vinogradov, E. and Pollin, S. (2018). Aerial coverage analysis of cellular systems at LTE and mmWave frequencies using 3D city models. Sensors, vol. 18, no. 12, ID 4311. DOI: 10.3390/s18124311 (accessed 20.11.2020).Azari M.M. Coexistence of terrestrial and aerial users in cellular networks / M.M. Azari, F. Rosas, A. Chiumento, S. Pollin // 2017 IEEE Globecom Workshops (GC Wkshps). Singapore, 2017. Pp. 1–6. DOI: 10.1109/GLOCOMW.2017.8269068Azari, M.M., Rosas, F., Chiumento, A. and Pollin, S. (2017). Coexistence of terrestrial and aerial users in cellular networks. 2017 IEEE Globecom Workshops (GC Wkshps), Singapore, pp. 1–6. DOI: 10.1109/GLOCOMW.2017.8269068Lyu J., Zhang R. Network-connected UAV: 3-D system modeling and coverage performance analysis [Электронный ресурс] // IEEE Internet of Things Journal. 2019. Vol. 6, no. 4. Pp. 7048–7060. DOI: 10.1109/JIOT.2019.2913887 (дата обращения: 20.11.2020).Lyu, J. and Zhang, R. (2019). Network-connected UAV: 3-D system modeling and coverage performance analysis. IEEE Internet of Things Journal, vol. 6, no. 4, pp. 7048–7060. DOI: 10.1109/JIOT.2019.2913887 (accessed 20.11.2020).Van Der Bergh B., Chiumento A., Pollin S. LTE in the sky: Tradingoff propagation benefits with interference costs for aerial nodes // IEEE Communications Magazine. 2016. Vol. 54, no. 5. Pp. 44–50. DOI: 10.1109/MCOM.2016.7470934Van Der Bergh, B., Chiumento, A. and Pollin, S. (2016). LTE in the sky: trading off propagation benefits with interference costs for aerial nodes. IEEE Communications Magazine, vol. 54, no. 5, pp. 44–50. DOI: 10.1109/MCOM.2016.7470934Fakhreddine A. Handover challenges for cellular-connected drones / A. Fakhreddine, C. Bettstetter, S. Hayat, R. Muzaffar, D. Emini // Proceedings of the 5th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications DroNet. Association for Computing Machinery, 2019. Pp. 9–14. DOI: 10.1145/3325421.3329770Fakhreddine, A., Bettstetter, C., Hayat, S., Muzaffar, R. and Emini, D. (2019). Handover challenges for cellular-connected drones. Proceedings of the 5th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications DroNet, Association for Computing Machinery, pp. 9–14. DOI: 10.1145/3325421.3329770Hayat S. An experimental evaluation of LTE-A throughput for drones / S. Hayat, C. Bettstetter, A. Fakhreddine, R. Muzaffar, D. Emini // Proceedings of the 5th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications DroNet. Association for Computing Machinery, 2019. Pp. 3–8. DOI: 10.1145/3325421.3329765Hayat, S., Bettstetter, C., Fakhreddine, A., Muzaffar, R. and Emini, D. (2019). An experimental evaluation of LTE-A throughput for drones. Proceedings of the 5th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications DroNet, Association for Computing Machinery, pp. 3–8. DOI: 10.1145/3325421.3329765Huang Y. 3D Beam tracking for cellular-connected UAV / Y. Huang, Q. Wu, T. Wang, G. Zhou, R. Zhang // IEEE Wireless Communications Letters. 2020. Vol. 9, iss. 5. Pp. 736–740. DOI: 10.1109/LWC.2020.2968312Huang, Y., Wu, Q., Wang, T., Zhou, G. and Zhang, R. (2020). 3D beam tracking for cellular-connected UAV. IEEE Wireless Communications Letters, vol. 9, issue 5, pp. 736–740. DOI: 10.1109/LWC.2020.2968312Huang Y. Massive MIMO for cellular-connected UAV: challenges and promising solutions / Y. Huang, Q. Wu, R. Lu, X. Peng, R. Zhang // IEEE Communications Magazine. 2021. Vol. 59, no. 2. Pp. 84–90. DOI: 10.1109/MCOM.001.2000552Huang, Y., Wu, Q., Lu, R., Peng, X. and Zhang, R. (2021). Massive MIMO for cellularconnected UAV: challenges and promising solutions. IEEE Communications Magazine, vol. 59, no. 2, pp. 84–90. DOI: 10.1109/MCOM.001.2000552Colpaert A., Vinogradov E., Pollin S. 3D beamforming and handover analysis for UAV networks // 2020 IEEE Globecom Workshops. GC Wkshps, 2020. Pp. 1–6. DOI: 10.1109/GCWkshps50303.2020.9367570Colpaert, A., Vinogradov, E. and Pollin, S. (2020). 3D beamforming and handover analysis for UAV networks. 2020 IEEE Globecom Workshops, GC Wkshps, pp. 1–6. DOI: 10.1109/GCWkshps50303.2020.9367570Strohmeier M. Realities and challenges of nextgen air traffic management: the case of ADS-B / M. Strohmeier, M. Schafer, V. Lenders, I. Martinovic // IEEE Communications Magazine. 2014. Vol. 52, no. 5. Pp. 111–118. DOI: 10.1109/MCOM.2014.6815901Strohmeier, M., Schafer, M., Lenders, V. and Martinovic, I. (2014). Realities and challenges of nextgen air traffic management: the case of ADS-B. IEEE Communications Magazine, vol. 52, no. 5, pp. 111–118. DOI: 10.1109/MCOM.2014.6815901Consiglio M. Sense and avoid characterization of the independent configurable architecture for reliable operations of unmanned systems / M. Consiglio, B. Duffy, S. Balachandran, C. Munoz, L. Glaab [Электронный ресурс] // Thirteenth USA/Europe Air Traffic Management Research and Development Seminar (ATM2019). NTRS – NASA Technical Reports Server. URL: http://www.atmseminar.org/seminarContent/seminar13/papers/ATM_Seminar_2019_paper_50.pdf (дата обращения: 27.11.2020).Consiglio, M., Duffy, B., Balachandran, S., Munoz, C. and Glaab, L. (2019). Sense and avoid characterization of the independent configurable architecture for reliable operations of unmanned systems. Thirteenth USA/Europe Air Traffic Management Research and Development Seminar (ATM2019). NTRS – NASA Technical Reports Server. Available at: http://www.atmseminar.org/seminarContent/seminar13/papers/ATM_Seminar_2019_paper_50.pdf (accessed 27.11.2020).Marques M. Sense and avoid implementation in a small unmanned aerial vehicle / M. Marques, A. Brum, S. Antunes, J.G. Mota // 13th APCA International Conference on Automatic Control and Soft Computing (CONTROLO). Ponta Delgada, 2018. DOI: 10.1109/CONTROLO.2018.8514548Marques, M., Brum, A., Antunes, S. and Mota, J.G. (2018). Sense and avoid implementation in a small unmanned aerial vehicle. 13th APCA International Conference on Automatic Control and Soft Computing (CONTROLO), Ponta Delgada. DOI: 10.1109/CONTROLO.2018.8514548Minucci F., Vinogradov E., Pollin S. Avoiding collisions at any (low) cost: ADS-B like position broadcast for UAVs [Электронный ресурс] // IEEE Access. 2020. Vol. 8. Pp. 121843–121857. DOI: 10.1109/ACCESS.2020.3007315 (дата обращения: 27.11.2020).Minucci, F., Vinogradov, E. and Pollin, S. (2020). Avoiding collisions at any (low) cost: ADS-B like position broadcast for UAVs. IEEE Access, vol. 8, pp. 121843–121857. DOI: 10.1109/ACCESS.2020.3007315 (accessed 27.11.2020).Lin C.E., Shao P.C., Lin Y.Y. System operation of regional UTM in Taiwan [Электронный ресурс] // Aerospace. 2020. Vol. 7, iss. 5. Pp. 7–65. DOI: 10.3390/aerospace7050065 (дата обращения: 27.11.2020).Lin, C.E., Shao, P.C. and Lin, Y.Y. (2020). System operation of regional UTM in Taiwan. Aerospace, vol. 7, issue 5, pp. 7–65. DOI: 10.3390/aerospace7050065 (accessed 27.11.2020).Arshad R. Velocity-aware handover management in two-tier cellular networks / R. Arshad, H. ElSawy, S. Sorour, T.Y. Al-Naffouri, M. Alouini [Электронный ресурс] // IEEE Transactions on Wireless Communications. 2017. Vol. 16, no. 3. Pp. 1851–1867. DOI: 10.1109/TWC.2017.2655517 (дата обращения: 27.11.2020).Arshad, R., ElSawy, H., Sorour, S., Al-Naffouri, T.Y. and Alouini, M. (2017). Velocityaware handover management in two-tier cellular networks. IEEE Transactions on Wireless Communications, vol. 16, no. 3, pp. 1851–1867. DOI: 10.1109/TWC.2017.2655517 (accessed 27.11.2020).Ngo H.Q. Cell-free massive MIMO: uniformly great service for everyone / H.Q. Ngo, A. Ashikhmin, H. Yang, E.G. Larsson, T.L. Marzetta // 2015 IEEE 16th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC), 2015. Pp. 201–205. DOI: 10.1109/SPAWC.2015.7227028Ngo, H.Q., Ashikhmin, A., Yang, H., Larsson, E.G. and Marzetta, T.L. (2015). Cellfree massive MIMO: uniformly great service for everyone. 2015 IEEE 16th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC), pp. 201–205. DOI: 10.1109/SPAWC.2015.7227028Buzzi S., D’Andrea C. Cell-free massive MIMO: user-centric approach // IEEE Wireless Communications Letters. 2017. Vol. 6, no. 6. Pp. 706–709. DOI: 10.1109/LWC.2017.2734893Buzzi, S. and D’Andrea, C. (2017). Cell-free massive MIMO: user-centric approach. IEEE Wireless Communications Letters, vol. 6, no. 6, pp. 706–709. DOI: 10.1109/LWC.2017.2734893Ngo H.Q. Cell-free massive MIMO versus small cells / H.Q. Ngo, A. Ashikhmin, H. Yang, E.G. Larsson, T.L. Marzetta // IEEE Transactions on Wireless Communications. 2017. Vol. 16, no. 3. Pp. 1834–1850. DOI: 10.1109/TWC.2017.2655515Ngo, H.Q., Ashikhmin, A., Yang, H., Larsson, E.G. and Marzetta, T.L. (2017). Cellfree massive MIMO versus small cells. IEEE Transactions on Wireless Communications, vol. 16, no. 3, pp. 1834–1850. DOI: 10.1109/TWC.2017.2655515Zhang J. Cell-free massive MIMO: a new next-generation paradigm / J. Zhang, S. Chen, Y. Lin, J. Zheng, B. Ai, L. Hanzo [Электронный ресурс] // IEEE Access. 2019. Vol. 7. Pp. 99878– 99888. DOI: 10.1109/ACCESS.2019.2930208 (дата обращения: 27.11.2020).Zhang, J., Chen, S., Lin, Y., Zheng, J., Ai, B. and Hanzo, L. (2019). Cell-free massive MIMO: a new next-generation paradigm. IEEE Access, vol. 7, pp. 99878–99888. DOI: 10.1109/ACCESS.2019.2930208 (accessed 27.11.2020).D'Andrea C. Cell-free massive MIMO for UAV communications / C. D'Andrea, A. Garcia-Rodriguez, G. Geraci, L.G. Giordano, S. Buzzi // 2019 IEEE International Conference on Communications Workshops (ICC Workshops), 2019. Pp. 1–6. DOI: 10.1109/ICCW.2019.8756714D'Andrea, C., Garcia-Rodriguez, A., Geraci, G., Giordano, L.G. and Buzzi, S. (2019). Cell-free massive MIMO for UAV communications. 2019 IEEE International Conference on Communications Workshops (ICC Workshops), pp. 1–6. DOI: 10.1109/ICCW.2019.8756714Shokry M. Leveraging UAVs for coverage in cell-free vehicular networks: a deep reinforcement learning approach / M. Shokry, D. Ebrahimi, C. Assi, S. Sharafeddine, A. Ghrayeb [Электронный ресурс] // IEEE Transactions on Mobile Computing. 2020. DOI: 10.1109/TMC.2020.2991326 (дата обращения: 11.12.2020).Shokry, M., Ebrahimi, D., Assi, C., Sharafeddine, S. and Ghrayeb, A. (2020). Leveraging UAVs for coverage in cell-free vehicular networks: a deep reinforcement learning approach. IEEE Transactions on Mobile Computing. DOI: 10.1109/TMC.2020.2991326 (accessed 11.12.2020).Vinogradov E., Kovalev D.A., Pollin S. Simulation and detection performance evaluation of a UAV-mounted passive radar [Электронный ресурс] // IEEE 29th Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), 2018. Pp. 1185–1191. DOI: 10.1109/PIMRC.2018.8580940 (дата обращения: 11.12.2020).Vinogradov, E., Kovalev, D.A. and Pollin, S. (2018). Simulation and detection performance evaluation of a UAV-mounted passive radar. IEEE 29th Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), pp. 1185–1191. DOI: 10.1109/PIMRC.2018.8580940 (accessed 11.12.2020).Sallouha H. Localization in ultra narrow band IoT networks: design guidelines and tradeoffs / H. Sallouha, A. Chiumento, S. Rajendran, S. Pollin [Электронный ресурс] // IEEE Internet of Things Journal. 2019. Vol. 6, no. 6. Pp. 9375–9385. DOI: 10.1109/JIOT.2019.2931628 (дата обращения: 11.12.2020).Sallouha, H., Chiumento, A., Rajendran, S. and Pollin, S. (2019). Localization in ultra narrow band IoT networks: design guidelines and tradeoffs. IEEE Internet of Things Journal, vol. 6, no. 6, pp. 9375–9385. DOI: 10.1109/JIOT.2019.2931628 (accessed 11.12.2020).Guvenc I. Detection, tracking, and interdiction for amateur drones / I. Guvenc, F. Koohifar, S. Singh, M.L. Sichitiu, D. Matolak // IEEE Communications Magazine. 2018. Vol. 56, no. 4. Pp. 75–81. DOI: 10.1109/MCOM.2018.1700455Guvenc, I., Koohifar, F., Singh, S., Sichitiu, M.L. and Matolak, D. (2018). Detection, tracking, and interdiction for amateur drones. IEEE Communications Magazine, vol. 56, no. 4, pp. 75–81. DOI: 10.1109/MCOM.2018.1700455Azari M.M. Key technologies and system trade-offs for detection and localization of amateur drones / M.M. Azari, H. Sallouha, A. Chiumento, S. Rajendran, E. Vinogradov, S. Pollin // IEEE Communications Magazine. 2018. Vol. 56, no. 1. Pp. 51–57. DOI: 10.1109/MCOM.2017.1700442Azari, M.M., Sallouha, H., Chiumento, A., Rajendran, S., Vinogradov, E. and Pollin, S. (2018). Key technologies and system trade-offs for detection and localization of amateur drones. IEEE Communications Magazine, vol. 56, no. 1, pp. 51–57. DOI: 10.1109/MCOM.2017.1700442Hügler P. Radar taking off: new capabilities for UAVs / P. Hügler, F. Roos, M. Schartel, M. Geiger, C. Waldschmidt // IEEE Microwave Magazine. 2018. Vol. 19, no. 7. Pp. 43–53. DOI: 10.1109/MMM.2018.2862558Hügler, P., Roos, F., Schartel, M., Geiger, M. and Waldschmidt, C. (2018). Radar taking off: new capabilities for UAVs. IEEE Microwave Magazine, vol. 19, no. 7, pp. 43–53. DOI: 10.1109/MMM.2018.2862558Gageik N., Benz P., Montenegro S. Obstacle detection and collision avoidance for a UAV with complementary low-cost sensors [Электронный ресурс] // IEEE Access. 2015. Vol. 3. Pp. 599–609. DOI: 10.1109/ACCESS.2015.2432455 (дата обращения: 27.01.2021).Gageik, N., Benz, P. and Montenegro, S. (2015). Obstacle detection and collision avoidance for a UAV with complementary low-cost sensors. IEEE Access, vol. 3, pp. 599–609. DOI: 10.1109/ACCESS.2015.2432455 (accessed 27.01.2021).Rozantsev A., Lepetit V., Fua P. Detecting flying objects using a single moving camera // IEEE Transactions on Pattern Analysis and Machine Intelligence. 2017. Vol. 39, no. 5. Pp. 879–892. DOI: 10.1109/TPAMI.2016.2564408Rozantsev, A., Lepetit, V. and Fua, P. (2017). Detecting flying objects using a single moving camera. IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 39, no. 5, pp. 879–892. DOI: 10.1109/TPAMI.2016.2564408Шаров В.Д., Елисеев Б.П., Воробьев В.В. Анализ недостатков в описании процедур управления риском безопасности полетов в документах ИКАО // Научный Вестник МГТУ ГА. 2019. Т. 22, № 2. С. 49–61. DOI: 10.26467/2079-0619-2019-22-2-49-61Sharov, V.D., Eliseev, B.P. and Vorobyov, V.V. (2019). Analysis of deficiencies in the procedures for the risk management of safety in the ICAO documents. Civil Aviation High Technologies, vol. 22, no. 2, pp. 49–61. DOI: 10.26467/2079-0619-2019-22-2-49-61 (in Russian)

The authors declare that there are no conflicts of interest present.