Low-altitude wireless networks (LAWN) require drones to follow specific trajectories controlled by ground base stations (GBSs). However, given complex low-altitude channel conditions and limited spectrum and power resources, sensing errors and wireless link unreliability cannot be ignored, leading to trajectory deviations that threaten flight safety. To address this issue, this paper proposes an integrated sensing-communication-control (ISCC) closed-loop trajectory tracking approach, aiming to reveal the coupling mechanisms among communication, sensing, and control during drone flight. In detail, we incorporate sensing errors in trajectory state estimation, packet losses in control command transmission, and finite blocklength transmission effects into the closed-loop dynamics. First, through theoretical analysis, we identify the dominant role of the time-frequency resources allocated to control in ensuring system stability and derive a lower bound on the resources required to guarantee stable operation. Second, to minimize tracking error, we formulate a time-frequency resource allocation optimization problem for the sensing, communication, and control components, subject to constraints on communication rate and closed-loop stability. Accordingly, a solution algorithm based on successive convex approximation is proposed. Third, simulation results indicate that once stability is ensured, system performance is primarily determined by sensing accuracy, with the trajectory tracking error exhibiting an approximately linear dependence on the position error bound. Finally, it is shown that the proposed ISCC scheme avoids trajectory divergence under FBL transmission compared with ISCC designs ignoring control packet loss, and could achieve decimeter-level average tracking accuracy, reducing the error to only 17.37% of that observed in the baseline global navigation satellite system scheme.

翻译：低空无线网络要求无人机沿地面基站控制的特定轨迹飞行。然而，考虑到复杂低空信道条件以及频谱与功率资源受限，感知误差与无线链路不可靠性不可忽视，由此导致的轨迹偏差将威胁飞行安全。针对此问题，本文提出一种集成感知-通信-控制（ISCC）的闭环轨迹跟踪方法，旨在揭示无人机飞行过程中通信、感知与控制之间的耦合机制。具体而言，我们将轨迹状态估计中的感知误差、控制指令传输中的丢包以及有限块长传输效应纳入闭环动力学模型。首先，通过理论分析，我们确定了分配给控制的时频资源在保障系统稳定性中的主导作用，并推导了系统稳定运行所需资源的下界。其次，为最小化跟踪误差，我们在通信速率与闭环稳定性约束下，构建了感知、通信与控制组件的时频资源分配优化问题，并提出基于逐次凸近似的求解算法。最后，仿真结果表明，在确保稳定性的前提下，系统性能主要由感知精度决定，轨迹跟踪误差与位置误差边界呈近似线性关系。此外，相较于忽略控制丢包的ISCC设计，所提ISCC方案在有限块长传输下能避免轨迹发散，并实现分米级平均跟踪精度，其误差仅为基准全球导航卫星系统方案的17.37%。