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Paper Abstract and Keywords
Presentation 2026-01-27 16:30
Flight Path Optimization and Handover Support for Drone Communications Based on Direction-of-Arrival Distribution Estimation
Koyo Aoyama, Takefumi Hiraguri (NIT), Takahiro Matsuda (TMU), Tomotaka Kimura (Doshisha Univ.), Hiroyuki Shimizu (NIT) CQ2025-99
Abstract (in Japanese) (See Japanese page) 
(in English) In complex urban environments, the communication quality of unmanned aerial vehicle (UAV) links varies significantly due to building blockage and multipath effects. This paper proposes a navigation method in which a UAV evaluates the communication environment during flight and autonomously adjusts its trajectory toward directions with higher communication quality, using communication quality as the decision criterion.The proposed method estimates the direction-of-arrival (DoA) distribution using a mixture of von Mises distributions and the expectation–maximization (EM) algorithm, allowing the UAV to capture the radio-wave arrival structure, identify favorable communication areas, and determine an appropriate traveling direction. Seamless handover support is also achieved by tracking changes in the dominant wave source direction.Simulation results in an urban environment show that the proposed method improves the average received power by approximately 6.6
dB compared with a conventional flight path, while maintaining communication quality even in non-line-of-sight (NLoS) areas. These results suggest that the proposed approach is effective for aerial communication infrastructures in Beyond 5G/6G non-terrestrial network (NTN) systems.
Keyword (in Japanese) (See Japanese page) 
(in English) UAV / mixture von Mises distribution / DoA distribution / EM algorithm / navigation design / aerial communication infrastructure / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 335, CQ2025-99, pp. 126-134, Jan. 2026.
Paper # CQ2025-99 
Date of Issue 2026-01-19 (CQ) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CQ2025-99

Conference Information
Committee CQ CBE  
Conference Date 2026-01-26 - 2026-01-27 
Place (in Japanese) (See Japanese page) 
Place (in English) The Beppu Chamber of Commerce and Industry 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Network Science, Computational Social Science, Human Computer Interaction, Data Analysis, User Behaviour, Media Quality, etc. 
Paper Information
Registration To CQ 
Conference Code 2026-01-CQ-CBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Flight Path Optimization and Handover Support for Drone Communications Based on Direction-of-Arrival Distribution Estimation 
Sub Title (in English)  
Keyword(1) UAV  
Keyword(2) mixture von Mises distribution  
Keyword(3) DoA distribution  
Keyword(4) EM algorithm  
Keyword(5) navigation design  
Keyword(6) aerial communication infrastructure  
Keyword(7)  
Keyword(8)  
1st Author's Name Koyo Aoyama  
1st Author's Affiliation Nippon Institute of Technology (NIT)
2nd Author's Name Takefumi Hiraguri  
2nd Author's Affiliation Nippon Institute of Technology (NIT)
3rd Author's Name Takahiro Matsuda  
3rd Author's Affiliation Tokyo Metropolitan University (TMU)
4th Author's Name Tomotaka Kimura  
4th Author's Affiliation Doshisha University (Doshisha Univ.)
5th Author's Name Hiroyuki Shimizu  
5th Author's Affiliation Nippon Institute of Technology (NIT)
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Speaker Author-1 
Date Time 2026-01-27 16:30:00 
Presentation Time 20 minutes 
Registration for CQ 
Paper # CQ2025-99 
Volume (vol) vol.125 
Number (no) no.335 
Page pp.126-134 
#Pages 9 
Date of Issue 2026-01-19 (CQ) 

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