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Properly 3D placement of unmanned aerial vehicle mounted base stations(UAV-BSs) can effectively prolong the life-time of the mobile ad hoc network,since UAVs are usually powered by batteries. This paper involves the on-boardcircuit consumption power and considers the optimal placement that minimizesthe UAV-recall-frequency (UAV-RF), which is defined to characterize thelife-time of this kind of network. Theoretical results show that the optimalvertical and horizontal dimensions of UAV can be decoupled. That is, theoptimal hovering altitude is proportional to the coverage radius of UAVs, andthe slope is only determined by environment. Dense scattering environment maygreatly enlarge the needed hovering altitude. Also, the optimal coverage radiusis achieved when the transmit power equals to on-board circuit power, and hencelimiting on-board circuit power can effectively enlarge life-time of system. Inaddition, our proposed 3D placement method only require the statistics ofmobile users' density and environment parameters, and hence it's a typicalon-line method and can be easily implemented. Also, it can be utilized inscenarios with varying users' density.

Energy-efficient 3D UAV-BS Placement Versus Mobile Users' Density and Circuit Power