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This paper constructs a full dimensional (6D) radio map to predict thechannel gain between any transmitter location and any receiver location basedon received signal strength (RSS) measurements between low-altitude aerialnodes and ground nodes. The main challenge is how to describe the signalstrength attenuation due to the blockage from the environment. Conventionalinterpolation-type approaches fail to exploit the close relation between theradio map and the geometry of the environment. This paper proposes to constructradio maps by first estimating and constructing a multi-class 3D virtualobstacle map that describes the geometry of the environment with radiosemantics. Mathematically, a least-squares problem is formulated to jointlyestimate the virtual obstacle map and the propagation parameters. This problemis found to have a partial quasiconvexity that leads to the development of anefficient parameter estimation and radio map construction algorithm. Numericalexperiments confirm that the proposed method substantially reduces the amountof measurement required for achieving the same radio map accuracy. It is alsodemonstrated that in a unmanned aerial vehicle (UAV)-aided relay communicationscenario, a radio map assisted approach for UAV placement can achieve more than50% capacity gain.

UAV-aided Radio Map Construction Exploiting Environment Semantics