Flexible Mobility Models using Stochastic Differential Equations

We develop a family of tractable models for UAV mobility. Based on system coupled stochastic differential equations, the resulting exhibit realistic trajectories and flexible covariance structures, making them suitable both small scale large applications. Closed form solutions steady state transient position distributions, as well covariance, are derived. These results subsequently used to obtain distance outage probabilities pathloss. The analytical allow us assess impact variety parameters related device control, navigation measurement errors. Finally, using measured flight data, we show an excellent goodness fit between proposed model data.