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Science
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h
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ies
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t
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a
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l
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h
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lt
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t
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m
a
t
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h
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rm
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n
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ey
w
o
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d
s
:
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er
ag
e
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it e
r
r
o
r
r
ate
Fre
e
s
p
ac
e
o
p
tical
Mu
ltip
le
in
p
u
t sin
g
le
o
u
tp
u
t
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in
tin
g
er
r
o
r
an
g
le
Sig
n
al
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to
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n
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is
e
r
atio
Sin
g
le
in
p
u
t sin
g
le
o
u
tp
u
t
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ab
d
u
llah
J
am
ee
l M
ah
d
i
E
lectr
o
m
ec
h
an
ical
E
n
g
in
ee
r
in
g
Dep
ar
tm
en
t
Un
iv
er
s
ity
o
f
Sam
ar
r
a
Salad
in
,
Sam
ar
r
a,
I
r
aq
E
m
ail:
Ab
d
u
llah
.
j.m
@
u
o
s
am
a
r
r
a.
ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
Un
m
an
n
ed
ae
r
ial
v
e
h
icles
(
UAVs)
ar
e
a
n
ew
tech
n
o
lo
g
y
r
ec
en
tly
ad
o
p
ted
i
n
v
a
r
y
in
g
civ
il
an
d
m
ilit
ar
y
ap
p
licatio
n
s
s
u
ch
as
tr
af
f
ic
jam
m
o
n
ito
r
i
n
g
,
b
ac
k
u
p
co
m
m
u
n
icatio
n
lin
k
in
th
e
d
is
aster
ar
ea
,
an
d
o
v
er
s
ig
h
t
b
eh
in
d
th
e
en
em
y
lin
e.
T
h
e
d
r
o
n
e
is
o
n
e
ty
p
e
o
f
UAV
th
at
is
u
s
ed
i
n
lo
w
altitu
d
es
an
d
s
h
o
r
t
d
is
tan
ce
s
.
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h
e
d
r
o
n
e'
s
co
m
m
u
n
icatio
n
lin
k
is
u
n
s
tab
le
d
u
e
to
ch
an
n
el
m
o
b
ilit
y
.
T
h
e
m
a
jo
r
p
r
o
b
lem
f
r
o
m
a
non
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s
tatio
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ar
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o
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tical
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m
p
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r
r
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en
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b
etwe
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itio
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s
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p
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FS
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lin
k
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p
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g
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r
o
r
H
p
f
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atm
o
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f
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ap
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s
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th
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H
p
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Z.
T
h
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t
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x
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ac
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th
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p
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m
itted
p
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r
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θ
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d
if
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d
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D
R
in
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k
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p
th
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s
y
s
tem
at
h
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p
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f
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
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A
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Ja
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919
Mo
s
t
r
esear
ch
er
s
s
tu
d
ied
th
e
s
y
s
tem
p
er
f
o
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m
a
n
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tak
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p
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r
o
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h
e
ac
co
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n
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s
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ix
ed
ter
r
estrial
o
p
tical
lin
k
s
u
ch
as
th
e
r
esear
ch
es
in
[
1
]
.
T
h
e
s
y
s
tem
m
o
d
el
in
[
2
]
h
ad
co
n
s
is
ted
o
f
m
u
lti
-
h
o
p
FS
O
co
m
m
u
n
icatio
n
to
d
eter
m
i
n
e
t
h
e
o
u
tag
e
p
r
o
b
a
b
ilit
y
wh
en
th
e
s
y
s
tem
was
im
p
air
ed
b
y
we
ak
tu
r
b
u
len
ce
an
d
m
is
alig
n
m
en
t.
T
h
e
d
esig
n
ed
FS
O
s
y
s
tem
in
[
3
]
h
ad
m
u
ltip
l
e
tr
an
s
ce
iv
er
s
o
f
f
o
u
r
tr
a
n
s
m
itter
s
&
r
ec
ei
v
er
s
.
I
t
an
aly
ze
d
t
h
e
Q
-
f
ac
to
r
,
b
it
-
er
r
o
r
r
ate
(
B
E
R
)
,
b
ea
m
d
iv
er
g
e
n
ce
,
an
d
r
ec
ei
v
ed
p
o
wer
with
d
if
f
e
r
en
t
clim
ate
co
n
d
itio
n
s
o
f
clea
r
air
,
h
az
e,
m
o
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er
ate
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f
o
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m
.
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h
e
p
r
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v
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tu
d
ies
o
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th
e
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b
ased
FS
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co
m
m
u
n
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n
lin
k
a
r
e
r
elativ
ely
r
ec
en
t
an
d
r
a
r
e,
esp
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th
e
ef
f
ec
t
o
f
p
o
in
tin
g
er
r
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s
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ch
as
[
4
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,
w
h
ich
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n
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e
atm
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s
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h
e
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ic
atten
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a
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t
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r
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len
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ec
t
H
f
f
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to
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s
with
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t
ta
k
in
g
th
e
p
o
in
tin
g
er
r
o
r
H
p
f
ac
to
r
in
to
ac
co
u
n
t.
Fawaz
et
a
l.
[
4
]
,
th
e
au
th
o
r
s
s
tu
d
ied
th
e
UAV
s
y
s
tem
's
im
p
r
o
v
em
en
t
b
y
u
s
in
g
r
elay
-
ass
is
ted
FS
O
to
am
elio
r
ate
th
e
ef
f
ec
ts
o
f
th
e
v
ar
io
u
s
atm
o
s
p
h
er
ic
im
p
air
m
en
ts
o
n
th
e
q
u
ality
o
f
th
e
FS
O
s
ig
n
al
.
T
h
e
r
e
v
iew
in
[
5
]
in
v
esti
g
ated
th
e
g
r
o
u
n
d
-
UAV
an
d
UAV
-
UAV
lin
k
s
s
ce
n
ar
io
s
an
d
th
e
p
o
s
s
ib
le
in
ter
-
UAV
li
n
k
s
s
ce
n
ar
io
i
n
th
e
p
r
esen
ce
o
f
t
h
e
im
p
ac
t
o
f
atm
o
s
p
h
er
ic
tu
r
b
u
len
ce
o
n
p
er
f
o
r
m
a
n
ce
.
T
h
e
tar
g
et
B
E
R
h
ad
b
ee
n
ac
h
iev
e
d
b
y
o
p
tim
u
m
s
elec
tin
g
t
h
e
b
ea
m
wid
th
to
d
ec
r
ea
s
e
th
e
tr
an
s
m
itted
p
o
wer
,
as
s
h
o
wn
in
[
6
]
.
T
h
e
s
u
r
v
e
y
d
o
n
e
in
[
7
]
h
ig
h
lig
h
ted
th
e
co
n
tin
u
o
u
s
m
o
v
em
en
t
a
n
d
c
h
an
g
in
g
r
elativ
e
s
p
ee
d
s
o
f
p
ar
t
icip
atin
g
m
em
b
er
s
,
m
ak
i
n
g
s
u
s
tain
in
g
a
lin
e
-
of
-
si
g
h
t
(
L
OS)
FS
O
lin
k
in
th
e
UAV
s
war
m
s
ce
n
ar
io
d
if
f
icu
lt
.
T
h
e
r
esear
ch
[
8
]
m
ea
s
u
r
ed
t
h
e
p
e
r
f
o
r
m
an
ce
o
f
a
non
-
s
tatic
an
d
s
lan
ted
lin
k
b
e
twee
n
th
e
f
ix
ed
s
tatio
n
at
th
e
g
r
o
u
n
d
an
d
th
e
UAV.
A
m
o
r
e
r
ec
en
t
s
tu
d
y
[
9
]
aim
ed
to
d
er
i
v
e
th
e
o
p
tim
al
3
D
co
o
r
d
in
ates
o
f
UAV
r
ela
y
an
d
o
p
tim
al
o
p
tical
b
e
am
p
atter
n
to
m
in
im
ize
th
e
o
u
tag
e
p
r
o
b
a
b
ilit
y
b
y
c
h
ar
ac
te
r
izin
g
s
o
u
r
ce
-
to
-
r
elay
an
d
r
elay
-
to
-
d
esti
n
atio
n
c
h
an
n
el
m
o
d
e
ls
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
Var
io
u
s
UAV
co
m
m
u
n
icatio
n
ar
ch
itectu
r
es
n
etwo
r
k
ca
n
b
e
f
o
r
m
e
d
as
ex
p
lain
e
d
in
[9
]
,
[
10]
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
co
n
f
ig
u
r
atio
n
is
as
s
h
o
wn
in
Fig
u
r
e
1
.
I
t
c
o
m
p
o
s
ed
o
f
s
in
g
le
in
p
u
t
s
in
g
l
e
o
u
tp
u
t
(
SISO)
an
d
m
u
ltip
le
in
p
u
t
s
in
g
le
o
u
tp
u
t
(
MI
SO)
ch
an
n
els,
wh
er
e
th
e
lin
k
b
etwe
en
th
e
d
r
o
n
es
in
an
ar
m
an
d
th
e
co
n
n
ec
tio
n
b
etwe
en
th
e
g
r
o
u
n
d
s
tatio
n
(
GS)
a
n
d
th
e
m
ain
d
r
o
n
e
(
D
M
)
is
th
e
SISO
c
h
an
n
el,
a
n
d
th
e
lin
k
co
n
n
ec
tin
g
th
e
last
d
r
o
n
es
in
b
o
th
ar
m
s
(
D
aN1
an
d
D
aM1
)
an
d
th
e
D
M
is
th
e
MI
SO
ch
a
n
n
el.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
ap
p
lied
in
d
etec
tin
g
a
n
d
m
a
k
in
g
d
ee
p
d
ec
is
io
n
s
f
o
r
ar
ea
s
u
r
v
eillan
ce
(
e.
g
.
,
o
il
p
ip
elin
e
leak
)
[
1
1
]
,
wh
ich
aim
e
d
to
ca
lcu
late
th
e
n
u
m
b
er
o
f
d
r
o
n
es
in
th
e
s
y
s
te
m
th
at
co
v
er
ed
a
s
p
ec
if
ied
ar
e
a
an
d
ex
am
in
ed
th
e
ef
f
ec
t
o
f
in
cr
e
asin
g
th
e
n
u
m
b
er
o
f
d
r
o
n
es
o
n
th
e
s
y
s
tem
p
er
f
o
r
m
a
n
ce
,
b
u
t
it
d
i
d
n
o
t
c
o
n
s
id
er
th
e
p
o
in
tin
g
er
r
o
r
H
p
f
ac
to
r
.
T
h
e
SISO
to
p
o
lo
g
y
h
as
o
n
e
tr
a
n
s
m
itti
n
g
ap
er
tu
r
e
at
th
e
tr
a
n
s
m
itter
en
d
an
d
o
n
e
r
ec
eiv
in
g
ap
er
tu
r
e
at
th
e
r
ec
eiv
er
en
d
.
T
h
e
MI
SO
h
as
m
u
ltip
le
tr
a
n
s
m
itter
an
ten
n
as
w
h
er
e
t
h
e
o
p
tical
s
ig
n
als
h
av
e
b
ee
n
s
en
t.
On
ly
o
n
e
r
ec
eiv
in
g
an
t
en
n
a
r
ec
eiv
es
th
e
o
p
tical
s
ig
n
als
f
r
o
m
m
u
ltip
le
tr
an
s
m
itti
n
g
an
ten
n
as,
wh
ich
m
ea
n
s
v
ar
io
u
s
s
o
u
r
ce
s
ar
e
a
v
ailab
le
an
d
o
n
l
y
o
n
e
a
v
ailab
le
d
esti
n
atio
n
[
1
2
]
.
T
wice
o
f
th
e
SISO
to
p
o
lo
g
y
in
th
e
p
r
o
p
o
s
ed
s
y
s
tem
,
th
e
f
ir
s
t
b
etwe
en
th
e
d
r
o
n
es
in
b
o
th
ar
m
s
ca
n
b
e
co
n
s
id
er
ed
a
h
o
r
izo
n
tal
lin
k
.
T
h
e
s
ec
o
n
d
is
th
e
SISO
lin
k
b
etwe
en
th
e
D
M
a
n
d
GS,
wh
ich
is
th
o
u
g
h
t
o
f
as
a
s
lan
ted
lin
k
in
wh
ich
th
e
p
at
h
len
g
th
ch
a
n
g
ed
as th
e
s
lo
p
e
an
g
le
θ
o
r
th
e
altitu
d
e
h
v
ar
y
in
g
in
d
ep
en
d
en
tly
o
r
to
g
eth
e
r
.
Fig
u
r
e
1
.
T
h
e
V
-
s
h
ap
e
s
war
m
FS
O
-
d
r
o
n
es p
er
s
p
ec
tiv
e
illu
s
tr
atio
n
[
1
3
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
2
,
Au
g
u
s
t
20
21
:
918
-
9
2
6
920
T
h
er
e
ar
e
two
s
ce
n
ar
io
s
f
o
r
th
e
f
lo
w
o
f
t
h
e
d
r
o
n
e
s
war
m
.
T
h
e
f
ir
s
t
s
ce
n
ar
io
ad
o
p
ted
is
wh
en
th
e
d
r
o
n
e
s
war
m
m
o
v
es
awa
y
f
r
o
m
th
e
GS,
as
s
h
o
wn
in
Fig
u
r
e
1
,
wh
er
e
th
e
lin
k
b
etwe
en
t
h
e
GS
an
d
th
e
to
tal
s
y
s
tem
will
in
cr
ea
s
e.
A
s
Py
t
h
ag
o
r
as'
th
eo
r
em
,
th
ese
in
cr
ea
s
es
in
th
e
lin
k
d
is
tan
ce
Z
ca
n
o
cc
u
r
d
u
e
to
ex
p
an
d
i
n
g
th
e
s
y
s
tem
altitu
d
e
h
an
d
co
n
s
tan
t
s
lo
p
e
an
g
le
θ
o
f
th
e
lin
k
o
r
d
ec
r
ea
s
in
g
in
t
h
e
s
lo
p
e
an
g
le
θ
at
f
ix
ed
s
y
s
tem
altitu
d
e
h
as c
lar
if
ied
in
Fig
u
r
e
2
.
T
h
e
s
ec
o
n
d
s
ce
n
ar
io
is
wh
en
th
e
d
r
o
n
e
s
war
m
f
lo
w
to
war
d
th
e
GS
r
ed
u
ce
s
th
e
lin
k
d
is
tan
ce
Z
b
et
wee
n
th
e
GS
an
d
th
e
f
ly
in
g
s
y
s
tem
in
two
ca
s
es,
r
ed
u
cin
g
Z
d
u
e
to
ch
an
g
in
g
th
e
altitu
d
e
h
an
d
th
e
s
lo
p
e
a
n
g
le
θ
o
r
ch
an
g
in
g
θ
at
f
i
x
ed
h
.
T
h
e
f
ir
s
t
s
ce
n
ar
i
o
was
ad
o
p
ted
to
g
et
th
e
d
is
tan
ce
s
at
wh
ich
th
e
s
y
s
tem
f
ailed
at
a
s
p
ec
if
ic
p
o
in
tin
g
er
r
o
r
an
g
le
θ
r
.
T
h
e
s
y
s
tem
p
er
f
o
r
m
an
ce
was
d
eter
m
in
ed
u
s
in
g
th
e
o
n
b
o
ar
d
d
ec
o
d
e
-
an
d
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f
o
r
war
d
(
DAF)
t
ec
h
n
iq
u
e.
T
h
e
DAF
tech
n
iq
u
e
d
en
o
tes
th
at
th
e
o
p
tical
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ig
n
al
is
tr
an
s
m
itted
f
r
o
m
th
e
last
d
r
o
n
e
in
an
ar
m
s
u
ch
as
D
aM1
to
D
aM1
-
1
u
n
til
th
e
s
ig
n
al
r
ea
ch
es
th
e
d
r
o
n
e
D
M
;
th
en
,
D
M
d
ec
o
d
es
an
d
f
o
r
war
d
to
GS.
T
h
is
p
ap
er
ass
u
m
es
th
at
th
e
d
r
o
n
es
m
o
v
e
at
a
co
n
s
tan
t
s
p
ee
d
an
d
ch
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g
e
th
eir
altitu
d
e
h
s
im
u
ltan
eo
u
s
ly
,
an
d
th
e
d
r
o
n
es
will
f
lo
w
o
n
th
e
o
p
p
o
s
ite
s
id
e
o
f
th
e
GS.
I
n
th
is
p
ap
er
,
th
e
n
u
m
b
er
o
f
d
r
o
n
es
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n
s
id
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ed
is
f
iv
e
d
r
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n
es
,
an
d
th
e
in
cr
ea
s
e
is
also
p
o
s
s
ib
le,
an
d
th
at
d
ep
en
d
s
o
n
th
e
r
eq
u
ir
ed
ap
p
licatio
n
.
T
h
e
s
y
s
tem
p
ar
am
eter
s
ar
e
as
s
h
o
wn
in
T
ab
le
1
.
T
h
e
p
a
r
am
et
er
s
Z
a
n
d
θ
r
wer
e
s
et
as
v
ar
y
in
g
v
al
u
es,
an
d
th
ei
r
v
alu
es
we
r
e
in
s
p
ec
ted
.
T
h
e
p
ar
am
eter
h
v
alu
es
d
ep
en
d
o
n
th
e
d
r
o
n
e
s
p
ec
if
ica
tio
n
r
ef
e
r
r
ed
to
in
t
h
e
d
r
o
n
e
d
atash
ee
t
[
1
4
]
an
d
d
ep
en
d
o
n
t
h
e
r
e
q
u
ir
ed
test
,
as
s
h
o
wn
in
th
e
r
esu
lts
an
d
d
is
cu
s
s
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n
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ec
tio
n
.
T
ab
le
1
.
T
h
e
s
y
s
tem
p
ar
am
ete
r
s
P
a
r
a
me
t
e
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Tr
a
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t
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R
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t
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G
b
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t
4
0
m
W
(
1
6
d
B
m)
R
e
s
p
o
n
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v
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t
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1
D
i
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Tx
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V
a
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A
l
t
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t
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d
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h
V
a
r
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g
W
a
v
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g
t
h
λ
1
5
5
0
×
10
−
9
nm
R
e
c
e
i
v
e
r
D
i
a
m
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t
e
r
D
R
1
c
m
t
o
1
0
c
m
P
o
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t
i
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g
Er
r
o
r
A
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g
l
e
θ
r
V
a
r
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i
n
g
B
e
a
m
W
a
i
st
a
t
z
=
0
w
0
5
×
10
−
2
2
.
1
.
Cha
nn
els
m
o
delin
g
T
h
e
m
ath
em
atica
l
m
o
d
el
o
f
ea
ch
to
p
o
lo
g
y
in
th
e
p
r
o
p
o
s
ed
s
y
s
tem
is
ex
p
r
ess
ed
,
in
clu
d
in
g
th
e
ch
an
n
el
g
ain
H
an
d
its
r
elate
d
f
ac
to
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s
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
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-
4
7
5
2
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mp
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f p
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tal
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s
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lated
as
[
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wh
er
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e
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th
d
r
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h
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m
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m
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d
ABER
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th
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a
v
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ag
e
b
it e
r
r
o
r
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ate
f
o
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ea
ch
ch
a
n
n
el.
3.
T
H
E
R
E
SU
L
T
S AN
D
D
I
SC
USSI
O
N
T
h
e
r
esu
lts
g
o
t
f
r
o
m
th
e
ex
p
r
e
s
s
io
n
s
m
en
tio
n
ed
in
th
e
p
r
ev
i
o
u
s
s
ec
tio
n
s
.
T
h
e
r
esu
lts
s
h
o
w
ed
th
at
th
e
s
y
s
tem
p
er
f
o
r
m
an
ce
in
te
r
m
s
o
f
T
AB
E
R
≈
10
−
8
.
T
h
is
p
ap
er
'
s
ce
n
tr
al
ax
is
is
to
d
eter
m
in
e
th
e
th
r
esh
o
ld
v
alu
es
o
f
th
e
p
o
in
tin
g
er
r
o
r
an
g
les
θ
r
at
p
ar
ticu
lar
lin
k
d
is
tan
ce
Z
wh
er
e
th
e
s
y
s
tem
k
ee
p
s
its
h
i
g
h
p
er
f
o
r
m
an
ce
a
n
d
ex
tr
ac
t
th
e
v
alu
es
at
wh
i
ch
th
e
s
y
s
tem
f
ailed
.
T
h
e
r
e
co
m
m
en
d
e
d
p
o
in
tin
g
a
n
g
le
θ
r
<
10
−
4
r
ad
f
o
r
lo
n
g
-
d
is
tan
ce
ap
p
licatio
n
(
in
t
er
-
s
atellite
laser
co
m
m
u
n
icat
io
n
)
,
w
h
er
e
t
h
e
r
ec
eiv
e
r
d
iam
eter
D
R
f
ix
e
d
to
2
5
0
cm
[
2
3
]
.
First
o
f
all,
test
th
e
p
o
in
tin
g
er
r
o
r
an
g
les
θ
r
=
10
−
3
,
10
−
4
,
an
d
10
−
5
r
ad
at
r
ec
eiv
er
d
ia
m
eter
D
R
=1
cm
.
T
h
e
r
esu
lts
as
s
h
o
wn
in
Fig
u
r
e
3
d
em
o
n
s
tr
ated
th
at
at
lin
k
d
is
tan
ce
Z
=1
0
5
0
m
,
th
e
p
o
i
n
tin
g
er
r
o
r
an
g
le
θ
r
=
10
−
3
r
ad
was
f
ailed
an
d
co
u
ld
n
o
t
ap
p
l
y
it
b
ey
o
n
d
Z
>
1
0
5
0
m
.
T
h
e
altitu
d
e
in
th
is
test
ca
n
b
e
s
et
to
h
≤
1
0
5
0
m
(
wh
en
h
=
Z
,
th
e
s
war
m
is
p
er
p
en
d
icu
lar
to
t
h
e
GS)
.
T
h
e
s
ec
o
n
d
test
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to
s
ee
th
e
ef
f
ec
t
o
f
in
cr
ea
s
in
g
th
e
r
ec
ei
v
er
d
ia
m
eter
D
R
t
o
b
e
1
0
cm
a
t
th
e
s
am
e
p
ar
am
eter
s
.
T
h
e
r
esu
lt
s
h
o
wn
in
Fig
u
r
e
4
d
em
o
n
s
tr
ated
th
at
th
e
s
y
s
tem
d
id
n
o
t
f
ail
an
d
g
o
t
h
ig
h
p
er
f
o
r
m
a
n
ce
f
o
r
θ
r
=
10
−
3
r
ad
b
ec
au
s
e
th
e
r
ec
eiv
er
ca
p
tu
r
es o
p
tical
s
ig
n
als m
o
r
e.
Fig
u
r
e
3
.
T
h
e
s
y
s
tem
f
ailed
at
Z
=1
0
5
0
m
a
n
d
D
R
=1
cm
Fig
u
r
e
4
.
T
h
e
s
y
s
tem
p
er
f
o
r
m
an
ce
at
Z
=1
0
5
0
m
an
d
D
R
=1
0
cm
No
w,
test
th
e
p
o
in
tin
g
er
r
o
r
a
n
g
les
θ
r
=
10
−
4
an
d
10
−
5
r
a
d
to
s
ee
at
w
h
ich
lin
k
d
is
tan
ce
Z
th
e
d
r
o
n
e
s
war
m
s
y
s
tem
ca
n
b
e
ap
p
lied
.
T
h
e
r
esu
lt
s
h
o
wn
in
Fig
u
r
e
5
d
em
o
n
s
tr
ated
th
at
th
e
lin
k
d
i
s
tan
ce
Z
≤
8
5
0
0
m
ca
n
th
e
s
war
m
r
ea
ch
at
th
e
r
ec
eiv
er
d
iam
eter
D
R
=
1
0
cm
.
T
h
e
v
alu
e
o
f
th
e
altitu
d
e
h
ca
n
b
e
s
et
to
h
≤
8
5
0
0
m
also
.
Af
ter
ex
am
in
in
g
t
h
e
lin
k
d
is
t
an
ce
Z
f
o
r
th
e
p
o
in
tin
g
e
r
r
o
r
an
g
le
θ
r
=
10
−
3
r
ad
at
r
ec
eiv
er
d
iam
e
ter
D
R
=1
cm
,
f
u
r
th
e
r
ex
a
m
in
in
g
t
h
e
lin
k
d
is
tan
ce
s
r
an
g
e
f
o
r
θ
r
=
10
−
3
r
ad
th
at
ca
n
b
e
ap
p
lied
wh
en
in
cr
ea
s
in
g
th
e
r
ec
eiv
er
d
iam
ete
r
b
y
o
n
e
ce
n
tim
eter
ea
ch
tim
e.
T
h
e
r
esu
lt
s
h
o
wn
in
Fig
u
r
e
6
is
wh
en
th
e
D
R
=2
cm
an
d
d
em
o
n
s
tr
ated
th
at
th
e
s
y
s
tem
g
o
t
a
h
i
g
h
p
er
f
o
r
m
an
ce
at
Z
≤
1
0
5
9
m
,
an
d
th
e
s
y
s
tem
f
aile
d
at
Z
=1
0
6
0
m
.
T
ab
le
2
s
u
m
m
ar
ized
th
e
r
esu
lts
o
f
th
e
in
cr
ea
s
e
in
th
e
r
ec
eiv
er
d
iam
ete
r
D
R
f
r
o
m
1
cm
to
1
0
cm
r
esu
lts
in
an
ad
d
itio
n
al
r
an
g
e
o
f
lin
k
d
is
tan
ce
s
Z
f
o
r
th
e
p
o
in
tin
g
e
r
r
o
r
an
g
les
θ
r
=
10
−
3
r
ad
.
T
h
e
in
cr
ea
s
e
in
th
e
r
ec
eiv
er
d
iam
eter
D
R
co
r
r
esp
o
n
d
s
to
an
in
cr
ea
s
e
in
th
e
r
ec
eiv
ed
o
p
tic
al
p
o
wer
,
an
d
th
is
m
ea
n
s
th
e
r
ec
eiv
er
ca
p
tu
r
e
a
h
ig
h
p
e
r
ce
n
tag
e
o
f
th
e
o
p
tical
b
ea
m
as
a
r
esu
lt
o
f
an
in
cr
ea
s
e
in
th
e
lin
k
d
is
tan
ce
s
Z
an
d
th
e
b
ea
m
wid
th
(
2
×
W
z
)
f
o
r
th
e
s
am
e
p
o
in
tin
g
er
r
o
r
an
g
le
θ
r
=
10
−
3
r
ad
.
W
h
en
D
R
≤
5
cm
,
th
e
in
cr
ea
s
e
in
th
e
p
er
m
itted
lin
k
d
is
tan
ce
is
<
5
0
m
.
W
h
en
D
R
≥
6
cm
,
th
e
in
cr
ea
s
e
in
th
e
li
n
k
d
is
tan
ce
Z
is
≥
1
0
0
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
23
,
No
.
2
,
Au
g
u
s
t
20
21
:
918
-
9
2
6
924
Fu
r
th
er
,
test
th
e
lin
k
d
is
tan
ce
s
Z
r
an
g
e
wh
en
in
cr
ea
s
in
g
th
e
p
o
in
tin
g
er
r
o
r
an
g
le
θ
r
to
10
−
2
r
ad
an
d
th
e
r
ec
eiv
er
d
iam
eter
D
R
in
cr
ea
s
e
s
b
y
o
n
e
ce
n
tim
eter
ea
c
h
tim
e.
Fig
u
r
e
7
d
e
m
o
n
s
tr
ated
th
at
th
e
s
y
s
tem
's
h
ig
h
p
er
f
o
r
m
an
ce
was a
t
Z
≤
96
m
,
an
d
t
h
e
s
y
s
tem
f
ailed
at
Z
=9
7
m
f
o
r
th
e
r
ec
eiv
er
d
iam
eter
D
R
=1
c
m
.
T
h
e
in
cr
ea
s
es
in
th
e
r
ec
eiv
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d
iam
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D
R
to
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cm
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r
r
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o
n
d
to
i
n
cr
ea
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es
in
th
e
r
an
g
e
o
f
lin
k
d
is
tan
ce
s
Z
a
t
th
e
s
am
e
p
o
in
t
in
g
er
r
o
r
θ
r
=
10
−
2
.
As
s
h
o
wn
in
Fi
g
u
r
e
8
,
th
e
s
y
s
tem
'
s
h
ig
h
p
er
f
o
r
m
an
ce
at
Z
≤
99
m
an
d
th
e
s
y
s
tem
f
ailed
at
Z
=1
0
0
m
.
T
ab
le
3
s
u
m
m
ar
ized
th
e
r
esu
lts
o
f
th
e
in
cr
ea
s
e
in
th
e
r
ec
eiv
er
d
iam
eter
D
R
f
r
o
m
1
cm
to
1
0
cm
r
esu
lts
in
an
ad
d
itio
n
al
r
an
g
e
o
f
lin
k
d
is
tan
ce
s
f
o
r
th
e
p
o
in
t
in
g
er
r
o
r
an
g
les
θ
r
=
10
−
2
r
ad
.
At
θ
r
=
10
−
2
r
ad
,
th
e
in
cr
ea
s
e
in
r
ec
eiv
e
r
d
iam
e
ter
D
R
r
esu
lts
in
a
f
ew
i
n
cr
ea
s
es
in
th
e
lin
k
d
is
tan
ce
Z
,
m
ai
n
ly
wh
en
D
R
≤
5
cm
co
r
r
esp
o
n
d
s
to
an
in
c
r
ea
s
e
in
Z
≤
5
m
.
W
h
en
D
R
>
5
cm
,
th
e
i
n
c
r
ea
s
e
in
Z
≥
1
0
m
.
Fig
u
r
e
5
.
T
h
e
s
y
s
tem
p
er
f
o
r
m
an
ce
f
o
r
θ
r
=
10
−
4
an
d
10
−
5
r
ad
at
Z
=8
5
0
0
m
a
n
d
D
R
=
1
0
cm
Fig
u
r
e
6
.
T
h
e
s
y
s
tem
f
ailed
at
θ
r
=
10
−
3
r
ad
, Z
=1
0
6
0
m
,
an
d
D
R
=2
cm
T
ab
le
2
.
T
h
e
r
an
g
e
o
f
lin
k
d
is
t
an
ce
s
at
θ
r
=
10
−
3
r
ad
Th
e
R
e
c
e
i
v
e
r
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i
a
me
t
e
r
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R
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e
a
p
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l
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c
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b
l
e
d
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t
a
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c
e
Z
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m)
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d
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t
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h
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e
a
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m)
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1
9
Fig
u
r
e
7
.
T
h
e
s
y
s
tem
f
ailed
at
θ
r
=
10
−
2
r
ad
,
Z
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6
m
,
an
d
D
R
=1
cm
Fig
u
r
e
8
.
T
h
e
s
y
s
tem
f
ailed
at
θ
r
=
10
−
2
r
ad
,
Z
=1
0
0
m
,
an
d
D
R
=2
cm
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p
p
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m)
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m
f
a
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(
m)
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e
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s
t
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(
m)
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a
m
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a
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(
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m)
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4.
CO
NCLU
SI
O
N
T
h
e
s
im
u
lated
V
-
s
h
a
p
e
s
y
s
tem
co
n
s
is
ts
o
f
two
to
p
o
l
o
g
ies:
SISO
an
d
MI
SO
to
p
o
lo
g
y
,
an
d
ea
ch
to
p
o
lo
g
y
ca
n
b
e
c
o
n
s
id
er
ed
a
n
in
d
ep
en
d
en
t
s
u
b
s
y
s
tem
.
T
h
e
clo
s
ed
-
f
o
r
m
ex
p
r
ess
io
n
o
f
th
e
AB
E
R
f
o
r
th
e
two
to
p
o
lo
g
ies
an
d
th
e
to
tal
AB
E
R
f
o
r
th
e
wh
o
le
s
y
s
tem
was
d
er
iv
ed
an
d
d
ete
r
m
in
ed
.
T
h
e
th
r
ee
f
ac
to
r
s
o
f
th
e
ch
an
n
el
g
ain
H
wer
e
c
o
n
s
id
er
ed
.
T
h
e
p
o
in
tin
g
er
r
o
r
H
p
f
ac
t
o
r
p
a
r
am
eter
s
ar
e
th
e
p
o
in
tin
g
er
r
o
r
an
g
le
θ
r
an
d
lin
k
d
is
tan
ce
Z
.
W
e
m
an
ip
u
lated
its
v
alu
es
to
ex
tr
ac
t
t
h
e
p
er
m
itted
an
d
ap
p
licab
le
v
alu
e
s
th
at
p
r
eser
v
e
th
e
s
y
s
tem
at
h
ig
h
p
e
r
f
o
r
m
an
ce
.
T
h
e
in
cr
ea
s
e
in
th
e
p
o
in
tin
g
e
r
r
o
r
a
n
g
le
θ
r
is
n
o
t
r
ec
o
m
m
en
d
ed
an
d
m
ea
n
s
th
at
th
e
lin
e
-
of
-
s
ig
h
t
(
L
OS)
b
etwe
en
th
e
tr
an
s
m
itter
an
d
r
ec
eiv
e
r
is
n
o
t p
r
ec
is
e.
All
th
e
r
esu
lts
s
h
o
we
d
th
at
at
SNR
<
1
0
d
B
t
h
er
e
is
a
tr
iv
ial
b
etter
m
en
t
in
th
e
AB
E
R
.
Af
ter
SNR
≥
1
0
d
B
,
th
e
r
e
ar
e
n
o
t
icea
b
le
im
p
r
o
v
em
en
ts
in
s
y
s
tem
p
er
f
o
r
m
an
ce
.
Als
o
,
th
e
r
esu
lts
s
h
o
wed
th
at
f
u
r
th
er
in
cr
ea
s
e
th
e
p
o
in
tin
g
er
r
o
r
an
g
le
θ
r
(
b
ec
o
m
e
wo
r
s
t;
co
n
s
eq
u
en
tly
,
th
e
p
er
f
o
r
m
an
ce
b
ec
o
m
es
wo
r
s
t)
m
u
s
t
co
r
r
esp
o
n
d
d
ec
r
ea
s
e
in
p
ath
len
g
th
Z
to
g
et
h
ig
h
p
er
f
o
r
m
an
ce
.
T
h
e
in
c
r
ea
s
e
in
th
e
lin
k
d
is
tan
ce
m
ak
es
th
e
b
ea
m
b
r
o
ad
er
,
a
n
d
th
e
r
e
ce
iv
er
ca
tch
es
p
ar
t
o
f
th
e
i
n
cid
en
t
o
p
tical;
th
er
ef
o
r
e,
th
e
r
a
d
ial
d
is
p
lace
m
en
t
r
(
r
∝
θ
r
)
m
u
s
t
b
e
as
s
m
all
a
s
p
o
s
s
ib
le.
T
h
e
r
esu
lts
en
ab
le
th
e
GS
to
m
o
n
ito
r
a
n
d
co
n
tr
o
l
th
e
s
y
s
tem
p
er
f
o
r
m
an
ce
b
y
ch
an
g
in
g
t
h
e
lin
k
d
is
tan
ce
s
Z
d
ep
e
n
d
in
g
o
n
th
e
m
ea
s
u
r
ed
p
er
f
o
r
m
an
ce
.
T
h
is
p
ap
er
ca
n
b
e
co
n
s
id
er
ed
as
a
b
en
c
h
m
ar
k
in
th
e
o
p
tical
c
o
m
m
u
n
icati
o
n
f
ield
.
Fo
r
f
u
tu
r
e
wo
r
k
,
o
p
tim
iz
atio
n
f
o
r
th
e
c
r
u
cial
p
ar
am
eter
s
s
u
ch
as
th
e
tr
a
n
s
m
itted
p
o
wer
an
d
th
e
r
e
ce
iv
er
ap
e
r
tu
r
e
d
iam
eter
af
f
ec
ted
th
e
s
y
s
tem
p
er
f
o
r
m
an
ce
.
RE
F
E
R
E
NC
E
S
[1
]
I.
S
.
An
sa
ri,
F
.
Yilma
z
,
a
n
d
M
.
S
.
Alo
u
in
i
,
“
Im
p
a
c
t
o
f
p
o
i
n
ti
n
g
e
rro
rs
o
n
t
h
e
p
e
rf
o
rm
a
n
c
e
o
f
m
ix
e
d
RF
/
F
S
O
d
u
a
l
-
h
o
p
tran
sm
issio
n
s
y
ste
m
s,”
IEE
E
W
ire
l.
Co
mm
u
n
.
L
e
tt
.
,
v
o
l
.
2
,
n
o
.
3
,
p
p
.
3
5
1
–
3
5
4
,
Ju
n
e
2
0
1
3
,
d
o
i:
1
0
.
1
1
0
9
/W
CL
.
2
0
1
3
.
0
4
2
3
1
3
.
1
3
0
1
3
8
.
[2
]
Y.
Jia
o
,
J.
Wan
g
,
X.
Da
n
g
,
M
.
C
h
e
n
,
W
.
Hu
,
a
n
d
Y.
Hu
a
n
g
“
P
e
rf
o
rm
a
n
c
e
An
a
ly
sis
o
f
M
u
lt
i
h
o
p
F
re
e
S
p
a
c
e
Op
ti
c
a
l
Co
m
m
u
n
ica
ti
o
n
S
y
ste
m
with
P
o
in
ti
n
g
Err
o
rs,”
9
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Op
ti
c
a
l
C
o
m
mu
n
ica
t
io
n
s
a
n
d
Ne
two
rk
s (ICOCN 2
0
1
0
)
,
2
0
1
0
,
p
p
.
2
9
0
-
2
9
3
,
d
o
i:
1
0
.
1
0
4
9
/c
p
.
2
0
1
0
.
1
2
0
8
.
[3
]
G.
Im
m
a
d
i
,
M
.
Ve
n
k
a
ta
Na
ra
y
a
n
a
,
A.
S
re
e
M
a
d
h
u
r
i,
a
n
d
V.
L.
T
e
jas
wa
n
i
S
a
b
b
a
sa
n
i,
“
S
imu
latio
n
Of
F
re
e
S
p
a
c
e
Op
ti
c
a
l
Co
m
m
u
n
ica
ti
o
n
U
n
d
e
r
Diffe
re
n
t
Wea
th
e
r
Co
n
d
it
io
n
s,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
u
re
a
n
d
Ap
p
li
e
d
M
a
t
h
e
ma
ti
c
s
,
v
o
l.
1
1
7
,
n
o
.
1
8
,
p
p
.
1
4
3
–
1
4
8
,
2
0
1
7
.
[4
]
W.
F
a
wa
z
,
C.
Ab
o
u
-
rjeil
y
,
a
n
d
C.
As
si,
“
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ra
ti
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m
m
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ica
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y
ste
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mm
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ica
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.
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,
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p
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0
–
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5
,
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.
2
0
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0
.
1
1
0
9
/
M
COM.
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0
1
7
.
1
7
0
0
3
2
0
.
[5
]
E.
Leit
g
e
b
,
K.
Zettl
,
S
.
S
.
M
u
h
a
m
m
a
d
,
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S
c
h
m
it
t,
a
n
d
W
.
R
e
h
m
,
“
In
v
e
stig
a
ti
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n
in
fre
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sp
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o
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t
ica
l
c
o
m
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o
n
li
n
k
s
b
e
twe
e
n
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s
(UA
Vs
),
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.
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.
[6
]
H.
G
.
S
a
n
d
a
li
d
is,
T.
A.
Tsift
sis,
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.
K.
Ka
ra
g
ian
n
id
is,
a
n
d
M
.
U
y
sa
l
,
“
BER
P
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rm
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n
c
e
o
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S
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Li
n
k
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tro
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ric
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r
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e
Ch
a
n
n
e
l
s
with
P
o
i
n
ti
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g
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o
rs,”
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E
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mm
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[7
]
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.
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.
M
u
h
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.,
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ly
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[8
]
A.
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tzie
fre
m
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a
n
i
s,
H.
C.
Leli
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o
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,
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n
d
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lero
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.
[9
]
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.
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d
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.
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.
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g
,
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mm
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.
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0
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.
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926
[1
1
]
C.
Ch
les
ti
l
,
e
t
a
l
.
,
“
Op
t
ica
l
Wi
re
l
e
ss
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n
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wa
rm
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Vs
fo
r
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g
h
Bit
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te
Ap
p
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ti
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s
,
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c
.
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2
]
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h
a
h
,
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a
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c
e
a
n
d
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o
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p
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ra
ti
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e
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a
ly
sis
o
f
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IS
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,
S
I
M
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M
IS
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M
IM
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In
ter
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a
l
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o
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les
s Co
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p
p
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–
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[1
3
]
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J.
M
a
z
h
e
r,
H.
T.
Ib
ra
h
im,
O.
N.
Uc
a
n
,
a
n
d
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y
a
t,
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n
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a
rm
with
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lem
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fo
r
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re
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su
rv
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il
lan
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4
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li
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7
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.
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m
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