A Survey on Wireless Channel Characteristics for Intelligent Inland Shipping: Measurement and Modeling Techniques
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摘要: 随着智能航运系统的快速发展，高效可靠的无线通信已成为支撑船舶状态感知、航道环境监测及协同作业的关键基础技术之一。基于研究现状综述了面向智能内河航运的无线信道特性研究进展，揭示其区别于陆地和近海环境的独特挑战：复杂水陆混合拓扑导致的带状广域覆盖、航行环境与自然条件、密集建筑物（桥梁）以及障碍物。其中选取国内外典型内河水道为代表性场景，通过对现有通信技术在内河场景适应性瓶颈的分析，指出传统信道模型难以准确表征内河特有的传播机制。重点围绕内河信道测量与建模2个核心方向展开，同时，梳理典型频段与航段差异，比较统计建模与几何建模适用边界，并归纳关键参数获取与验证流程要点，供后续研究。在测量层面，归纳了空-天-水链路的稀疏性、船舶运动引起的不稳定性及蒸汽波导效应3个特征，总结了当前测量方案在动态轨迹跟踪、局地化气象耦合及非可视路径高分辨率捕获等方面的不足；在建模层面，评述了适用于内河环境的大尺度衰落模型与小尺度衰落模型，指出现有模型对船舶晃动与水面反射动态耦合、桥梁峡谷等受限场景精细化表征的局限性。构建覆盖内河全域的高可靠通信网络亟需突破环境驱动的高保真信道建模、多频段传播机制解析及“岸-船-云”协同架构设计等关键技术。Abstract: As intelligent shipping systems continue to develop rapidly, efficient and reliable wireless communications become one of the key enabling technologies for supporting vessel state sensing, waterway environmental monitoring, and collaborative operations. Based on the existing body of research, this paper reviews recent advances in wireless channel characterization for intelligent inland shipping and highlights the unique challenges that distinguish inland waterways from terrestrial and near-shore environments, including corridor-like wide-area coverage induced by complex land-water mixed topologies, navigation environments and natural conditions, and dense man-made structures (e.g., bridges) and other obstructions. Representative inland waterways worldwide are examined, and by analyzing the adaptability bottlenecks of current communication technologies in inland scenarios, it is shown that conventional channel models cannot accurately capture the propagation mechanisms specific to inland waterways. The review focuses on two core aspects: channel measurement and channel modeling, while also summarizing differences across typical frequency bands and waterway segments, comparing the applicability boundaries of statistical and geometry-based modeling approaches, and outlining key procedures for parameter acquisition and validation to inform future research. On the measurement side, three major characteristics are identified, namely the sparsity of air-space-water links, the instability caused by vessel motion, and evaporation-duct effects; the limitations of existing measurement schemes are then discussed in terms of dynamic trajectory tracking, localized meteorological coupling, and high-resolution capture of non-line-of-sight paths. On the modeling side, large-scale and small-scale fading models applicable to inland environments are reviewed, and the limitations of existing models in finely characterizing the coupled dynamics of vessel-induced motion and time-varying water-surface reflections, as well as constrained scenarios such as bridge canyons, are emphasized. Finally, building a highly reliable communication network with full-coverage capability for inland waterways calls for breakthroughs in environment-driven high-fidelity channel modeling, multi-band propagation mechanism analysis, and the design of coordinated "shore-ship-cloud" architectures.
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图 1 内河航运无线信号传播示意图
Figure 1. View of wireless signal propagation for inland waterway transportation
表 1 内河航运与海运航行特点
Table 1. Characteristics of inland waterway and ocean-going vessel navigation
特点维度 内河航运 海运 水域范围 狭窄、受限封闭或半封闭水域航行 广阔、开放航行无遮挡, 活动范围极大[12] 航道宽度 有明确航道界限船舶必须严格在航道内航行[11] 大洋无界限自由航行 气象影响 两岸地形遮挡, 风力通常较小基本不受涌浪影响[11] 受风、浪、涌、雾的全面影响大风和巨浪是航行安全的主要威胁[12] 障碍物 多且复杂桥梁、浅滩、礁石、固定渔船等 相对较少暗礁、冰山和其他船只 船型尺寸 长、宽、高受限受限于河道、船闸和桥梁的尺度 规模相对于内河较大可以非常大 船体结构 结构相对简单以适应浅水航行 V形或U形船底在波浪中的稳定性 引航与操纵 频繁转向、避让舵效反应快 长时间定向直航操作节奏相对慢 导航方式 视觉导航为主依赖岸形、航标(浮标、岸标)、桥梁标志[11] 电子导航为主依赖GNSS、雷达、电子海图等 交通密度 密度高船舶交汇、追越频繁 密度低海峡、港口附近密度高 注：全球导航卫星系统（global navigation satellite system，GNSS）。 
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表 2 航运通信系统方式以及系统配置情况
Table 2. Shipping communication system methods and system configuration
系统 工作频段 传播速率/kbps 主要功能 典型应用场景 依据与说明 NAVTEX MF 0.3 海事安全信息广播 基础安全信息播发 国际标准: 作为全球海事遇险与安全系统的一部分, 其频段与速率由IMO通过NAVTEX手册统一规定 DSC VHF、MF、HFL波段 1.2 遇险、安全、日常呼叫 遇险报警、关键信令传输 国际标准: 其技术规范由国际电信联盟的ITU-R M.493-15建议书中强制规定, 这些标准确保了全球海事DSC设备的互操作性与可靠性 AIS VHF 2×9.6 船舶自动识别与监控 船-船、船-岸信息交换, 交通监管 国际标准: ITU-R M.1371-5协议明确规定此频段与调制方式 INMARSAT L波段 ≤432 全球语音与数据通信 远洋通信、备份链路、关键数据回传 国际标准: INMARSAT系统作为IMO指定的GMDSS核心组成部分, 其运营频段由ITU无线电规则在移动卫星业务项下分配 Ka波段 下行5000 高通量全球宽带数据、语音与视频通信 船舶远程监控与诊断、关键业务数据实时回传 注：高频（high frequency，HF）、国际电信联盟无线电通信局（international telecommunication union-radiocommunication sector, ITU-R）。
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表 3 新兴无线技术在内河航运中的应用
Table 3. Application of emerging wireless technologies in inland waterway transportation
系统 工作频段/MHz 传播速率/Mbps 主要优势 典型应用场景 4G/5G 1 800~4 900 10~1 000 高带宽、低时延、广生态 近岸视频监控、船载互联网、远程诊断 LoRa 470~868 0.000 3~0.05 超远距离、低功耗、低成本 航道传感器、航标状态监测、水文数据采集 RFID 860~960 0.04~0.64 非接触、快速识别、高精度 船舶身份识别、货物追踪、港口门禁
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表 4 空/天-水无线传播信道
Table 4. Air-sky-water radio propagation channels
频段 文献 高度/m LOS/NLOS 特性 备注 [28] NLOS 稀疏性 高频 [29] 电离层高度 均有 稀疏性、不稳定性 波浪晃动 [30] LOS 不稳定性 波浪晃动 甚高频 [31] 对流层高度 均有 蒸汽波导 云雨杂波 甚高频、特高频 [32] 10 000 均有 不稳定性 波浪晃动、船舶运动 特高频 [34] 最大高度57.55 均有 不稳定性 船舶运动 特高频、超高频 [35] 5~15 均有 蒸汽波导、不稳定性 内河峡谷航道 [36] 5~9 NLOS 稀疏性、不稳定性 风速影响 [37] 3.5~11.5 LOS 稀疏性、蒸汽波导 不同气象 [38] 近地表面 NLOS 蒸汽波导 船-岸之间 超高频 [39] 均有 蒸汽波导、不稳定性 海面粗糙度、电磁辐射 [40] 最大高度100 NLOS 蒸汽波导 路径损耗与天气变化 4~5 NLOS 蒸汽波导 MIMO [41] 对流层高度 NLOS 蒸汽波导 云雾天气 超高频、极高频 [42] 最大高度75 LOS 蒸汽波导 云雾衰减
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表 5 典型内河航道环境分类
Table 5. Classification of typical inland waterway environments
具体场景 地理特征 主导传播机制 主要干扰因素 平原环境 视野开阔, 距岸较远 直射、水面反射 并行船舶、沿岸小船 潮汐环境 入海口开阔水域, 与近海环境关联 直射、海面反射 天气变化、海浪动态、大型高速船舶 峡谷环境 陡峭U形谷坡, 植被茂密 水面反射、峡谷强反射、植被散射 季节性雨雾、复杂地形 大坝环境 高大封闭障碍物 反射、多径散射 船舶密集停泊、水位升降 城市环境 航道低于密集高层建筑岸线 直射、水面反射 内河两岸楼房 桥梁环境 跨航道桥梁 桥体衍射、桥墩/桥面/水面复杂多径反射 桥体瞬时遮挡、城市密集建筑
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表 6 航运无线信道测量相关信息
Table 6. Information about wireless channel measurements for shipping
测量环境 测量参数 LOS/NLOS 天线情况 频段范围/GHz 文献 备注 内河 PL、SC LOS SISO 5.9 [43] 内河城市环境 NLOS 0.3 [44] 山区场强分布 PL LOS SISO 1.4 [45] 内河城市环境 内河 SC、K LOS GNSS-R+星载接收 L波段 [46] 内河洪水环境 SC、K、WSE、WSS LOS GNSS-R+SAR L波段、Ka波段 [47-49] 内河郊野环境 PL、SC、K SISOMIMO 5.2 [4] 船-岸 SISOSIMO 2.5、10 [50] 船-船-岸 LOS MIMO 海洋/近海 SISOMIMO HF、VHF [30] 海面反射 PL SIMO 2.45、3.5 [51] 双向测量 PL、SC 均有 SISO
MIMO5
2.4、5.8[52]
[53]海岸 注：路径损耗（path loss，PL）；小尺度衰落（small scale fading，SC）；莱斯分布K因子（k factor，K）；单输入单输出（single-input single-output，SISO）；单输入多输出（single-input multiple-output，SIMO）；干涉合成孔径雷达（synthetic aperture radar，SAR）；全球导航卫星系统反射遥感（global navigation satellite system-reflectometry，GNSS-R）；水面高程（water surface elevation，WSE）、水面坡度（water surface slope，WSS）。
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表 7 水面环境无线信道建模研究信息
Table 7. Information on wireless channel modeling studies for surface environments
信道衰落 模型考虑因素 参考模型 文献 备注 大尺度衰落模型 天气因素 经典模型、混合模型 [15] 船-船-岸 距离因素 ITU-R模型、经典模型 [50] 射线跟踪、双射线 [52] 沿海区域 天线配置因素 抛物线方程、几何模型 [54] 船-船-岸 距离因素、环境因素 对数距离路径损耗模型 [13] 船-岸 小尺度衰落模型 距离因素 瑞利分布模型、莱斯分布模型 [32] 船-船-岸 环境因素 传统模型 [55] 航向误差 环境因素、频段差异 物理光学散射框架下的相干场/相干功率建模 [56] 船-岸 环境因素 相干系数定义(以连续复DDM计算) [46] 内河水域 环境因素 Von Neumann entropy作为相干程度量化指标 [47] 船-岸 注：延迟-多普勒图（delay-doppler map，DDM）、冯·诺依曼熵（Von Neumann entropy）。
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