Numerous communications and networking challenges prevent deploying unmanned aerial vehicles (UAVs) in extreme environments where the existing wireless technologies are mainly ground-focused; and, as a consequence, the air-to-air channel for UAVs is not fully covered. In this paper, a novel spatial estimation for beamforming is proposed to address UAV-based joint sensing and communications (JSC). The proposed spatial estimation algorithm relies on using a delay tolerant observer-based predictor, which can accurately predict the positions of the target UAVs in the presence of uncertainties due to factors such as wind gust. The solution, which uses discrete-time unknown input observers (UIOs), reduces the joint target detection and communication complication notably by operating on the same device and performs reliably in the presence of channel blockage and interference. The effectiveness of the proposed approach is demonstrated using simulation results.

翻译：大量通信和联网挑战阻止在现有无线技术主要以地面为主的极端环境中部署无人驾驶飞行器;因此,无人驾驶飞行器的空对空通道没有完全覆盖在内,本文件建议对波束成型进行新的空间估计,以解决基于无人驾驶飞行器的联合遥感和通信(JSC)问题,拟议的空间估计算法依赖于使用一个耐延迟的容忍观察员预测器,该算法可以准确预测目标无人驾驶飞行器的位置,因为风突等因素造成不确定因素。使用不连续时间未知的投入观察员(UIOs)的解决方案减少了联合目标探测和通信的复杂程度,特别是在同一装置上操作,并在有通道阻塞和干扰的情况下可靠地运行。