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This paper introduces an integrated sensing-communication-control (ISCC) closed-loop approach for drone trajectory tracking in low-altitude wireless networks, explicitly modeling the coupling between sensing errors, packet losses, and finite blocklength (FBL) transmission effects. Through theoretical analysis, the authors derive a lower bound on time-frequency resources needed for stable operation, highlighting the importance of control command transmission. Simulation results demonstrate that ensuring stability leads to performance primarily determined by sensing accuracy, achieving decimeter-level tracking accuracy and outperforming baseline GNSS schemes.
Ignoring control packet loss in drone communication can lead to trajectory divergence, but this integrated sensing-communication-control scheme achieves decimeter-level accuracy.
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.
