2019 IEEE Wireless Communications and Networking Conference (WCNC)
A New Shadowed Double-Scattering Model
with Application to UAV-to-Ground
Communications
Petros S. Bithas
Department of Digital Systems, Department of Digital Systems,
University of Piraeus, University of Piraeus, Greece
Aircraft Engineering Department, Email: vnikola@unipi.gr
TEI of Sterea Ellada
Email: pbithas@unipi.gr
Abstract—Double-scattering propagation models have
been applied in various wireless communication environ-
ments, including vehicle-to-vehicle communications and
cooperative amplify-and-forward relaying. In all these sce-
narios, when obstacles exist between the transmitter (Tx)
and the receiver (Rx), the average received power varies in
a random manner, resulting to the shadowing effect. The
combination of double-scattering and shadowing represents
a composite fading scenario, which models worse than
Rayleigh fading conditions. In this paper, we propose a new
shadowed double-scattering distribution that can model
various fading and shadowing conditions. To this aim, the
inverse-gamma (IG) distribution is employed for modeling
the shadowing coefficient and the Nakagami-m for the
multipath fading. For the resulting double-Nakagami-IG
distribution, an analytical stochastic framework has been
developed for presenting important statistical properties.
Moreover, the theoretical results have been compared
with empirical ones, based on a measurement campaign
that has been performed in an unmanned aerial vehicle
(UAV)-to-ground communication scenario. It is shown that
the proposed new distribution can efficiently model such
communication environments, since it provides a notable
fit to the empirical data.
I. I NTRODUCTION
The double-scattering propagation is a well-known
approach for modeling the received signal amplitude
is scenarios where both the transmitter (Tx) and the
receiver (Rx) (or important scatterers around them) are
moving [1], [2]. In this environment, two independent
sums of plane waves are multiplied to form the resulting
impulse response. Depending on the channel conditions
around the Tx and the Rx, various fading distributions
have been proposed for modeling small-scale fading
random variations in each scattering region. For exam-
ple, assuming Rayleigh, Nakagami-m, Rice, and Weibull
distributed received envelope in each bounce interaction,
double-Rayleigh, double-Nakagami, double-Rice, and
double-Weibull distributions are respectively obtained,
e.g., [3]–[6]. In all these studies, it was concluded that
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978-1-5386-7646-2/19/$31.00 ©2019 IEEE
Viktor Nikolaidis Athanasios G. Kanatas
Department of Digital Systems,
University of Piraeus, Greece
Email: kanatas@unipi.gr
the double-scattering models represent, in general, worse
than Rayleigh propagation conditions.
Another propagation phenomenon that influences the
system’s performance is the large-scale fading variations,
which practically represent random changes on the re-
ceived signal’s average power. From the physical point
of view, large-scale fading represents an electromagnetic
shadow that occurs due to the presence of large obstacles
in the line-of-sight (LoS) path between the Tx and the
Rx. In this context, it is reasonable to assume that the
mean values of the envelopes, on both transmission
and reception scattering regions, could be also subjected
to random fluctuations, resulting to shadowed double-
scattering. This kind of composite fading environment
has been analytically investigated in the past by as-
suming Nakagami-m small-scale fading and gamma
shadowing [7]. Recently, a new distribution that has been
found to offer an excellent fit to measurement data for
large-scale fading, is the inverse-gamma (IG) [8]–[11]. In
particular, in [10], it was shown that the IG distribution
offers a better fit (as compared to the gamma) to empiri-
cal data for shadowed fading conditions in non-stationary
conditions. In addition, in [8], it was also shown that the
η − µ/IG distribution provides a good fit to measurement
data.
Motivated by the above-mentioned, in this paper, a
new shadowed double-scattering distribution is proposed
that is able to model various propagation conditions, in
which the received signal is simultaneously affected by
double-scattering and shadowing effects. For this distri-
bution, a new analytical framework has been developed
for evaluating important statistical characteristics, such
as the probability density function (PDF), the cumulative
distribution function (CDF), and the moments. In addi-
tion, simplified results have been also presented for a
special case. As an application example, the proposed
model, named double Nakagami-IG distribution, has
 2019 IEEE Wireless Communications and Networking Conference (WCNC)

The probability density function (PDF) of Ni is given

by [13, eq. (2.20)]
i 2mi −1
( )
2mmi x mi x2
fNi (x) = exp − , (1)
Ωmi Γ(mi ) Ω
where mi is distribution’s shaping parameter, related to
the severity of the fading, i.e., as mi increases LoS
conditions are approximated, Ω denotes the mean square
value, and Γ(·) is the gamma function [14, eq. (8.310/1)].
Moreover, let Ii denoting the large-scale fading coeffi-
cient, modeled by the IG distribution with PDF given
by ( )
γα i
γi
fIi (y) = i
exp − , (2)
Γ(αi )y αi +1 y
where αi > 1 is the shaping parameter of the distri-
bution, related to the severity of the shadowing, and
γ i denotes the scaling parameter, related to the average
Fig. 1. Examined use case. received SNR. In this respect, the final double-scattered
and shadowed signal received envelope, R, could be
modeled as the product of two Nakagami and two IG
been used to model the received composite envelope random variables (RVs) as follows
statistics in a propagation environment with unmanned
aerial vehicle (UAV)-to-ground communications. The R = N1 I1 N2 I2 . (3)
| {z } | {z }
empirical data that have been employed are collected in a M1 M2
measuremement campaign that involved a zeppelin-type
Firstly, the PDF of Mi is evaluated. In order to evaluate
airship [12]. It is shown that the new model fits quite
that PDF, the total probability theorem is applied as
well to the empirical data in non-LoS (nLoS) fading
follows
conditions. ∫ ∞
The remainder of the paper is organized as follows. In fMi (x) = fNi (x|y)fIi (y)dy. (4)
Section II, the channel model is introduced. In Section 0
III, a statistical framework for the shadowed double- Substituting (1) and (2) in (4), and using [14, eq.
scattered model is presented. In Section IV, representa- (3.462/1)], yields to the following closed-form expres-
tive numerical evaluated results and comparisons with sion
measured data are presented and discussed, while in ai +2mi
21− 2 γ ai Γ(ai + 2mi )
Section V, the concluding remarks can be found. fMi (x) = a /2
x−ai −1
Γ(mi )Γ(ai )mi i
( 2
) ( )
γ γ
II. C HANNEL M ODEL × exp D−ai −2mi ,
8mi x2 (2mi )1/2 x
(5)
We consider a communication scenario in which the
Tx, the Rx, and/or important scatterers around them are where Dv (·) denotes the parabolic cylinder function [14,
in motion. Moreover, it is assumed that the two local eq. (9.240)].
regions of scatterers around both the Tx and the Rx are
separated by a large distance. In that case it is reasonable III. S HADOWED D OUBLE -S CATTERED M ODEL
to assume that the transmitted multiple plane waves are S TATISTICS
propagated through a keyhole, which will finally result For evaluating the PDF of R, the following two RVs
to a double-scattered received envelope [2]. Moreover, are introduced
it is also assumed that nLoS conditions exist due to the
N = N1 N2
presence of obstacles between the Tx and the Rx, e.g., (6)
buildings. A representative example for the considered I = I1 I2 ,
channel model is shown in Fig. 1. In this context, large where N represents a double-Nakagami RV with PDF
scale fading (or shadowing phenomena) co-exist with the given as [15, eq. (11)]
double-scattered propagation. ( 2 − )
y
Let Ni , with i ∈ {1, 2}, denoting the small-scale fad- 2G2,0
0,2 Ω2 m1 ,m2
ing coefficient that follows the Nakagami-m distribution. fN (y) = . (7)
yΓ(m1 )Γ(m2 )

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 2019 IEEE Wireless Communications and Networking Conference (WCNC)

In (7), Gm,n
p,q [·|·] denotes the Meijer’s G-function [14, using [14, eq. (7.811/4)], yields to the following closed-
eq. (9.301)], which is a built-in function in many math- form expression
ematical software packages, e.g., Mathematica, Maple,
and thus can be directly evaluated. Moreover, using [16, ∏
2
2ai −n−1 γ n m
−n/2
E ⟨Rn ⟩ = i
eq. (07.34.03.0605.01)], (7) simplifies to Γ(mi )Γ(ai )π 1/2
i=1
( ( ) ( )
m1 +m2 m1 +m2
n) 1 + ai − n ai − n
2m 2 2m2 2 × Γ mi + Γ Γ .
fN (y) = m11 2 2 2
Ω Γ(m1 ) Ωm2 Γ(m2 ) (8)
( √ y)
(13)
× y m1 +m2 −1 Km2 −m1 2 m1 m2 ,
Ω A. Special Case: One-Sided Shadowing
where Kv (·) denotes the modified Bessel function of the Here, simplified expressions are provided for the spe-
second kind and order v [14, eq. (8.407)]. As far as I cial case in which shadowing effects are present in only
in (6) is concerned, it models the double-IG (dIG) RV. one of the two scattering regions. For this scenario, (3)
The PDF of I can be evaluated by applying (2) in (4) can be re-expressed as
and using [14, eq. (3.471/9)], resulting to
( ) Q = N1 N2 Ii . (14)
2γ a1 +a2 − a1 +a2 −1 γ
fI (y) = y 2 Ka2 −a1 2 √ . (9)
Γ(a1 )Γ(a2 ) y For evaluating the PDF of Q, (2) and (8) are substituted
Furthermore, the PDF of R can be evaluated by substi- in (4) and then using [14, eq. (6.621)] the following
tuting (8) and (9) in (4), which results to the following simplified expression has been extracted
type of integral (m1 m2 )m2 γ ai
∫ ∞ ( ) fQ (x) =
a1 +a2 Γ(m1 )Γ(m2 )Γ(ai )
I= y 2 +m1 +m2 −1 Ka2 −a1 2γy 1/2 √
(10) Γ(2m2 + ai )Γ(2m1 + ai ) π22(m2 −m1 +1) x2m2 −1
0
√ × ( )
Km2 −m1 (2 m1 m2 zy) dy. Γ(m1 + m2 + ai + 1/2) γ + 2√m1 m2 x 2m2 +ai
(
To solve this type of integral, the Meijer’s G-function 1 1
× 2 F1 2m2 + ai , m2 − m1 + ; m2 + m1 + ai + ;
representation for the
( Bessel )function is employed, i.e., 2 2
2,0 x2 − √ )
Kv (x) = 1/2G0,2 4 v ,− v [17, eq. (14)]. Based on γ − 2 m1 m2 x
2 2 √ ,
this representation and applying [17, eq. (21)] yields to γ + 2 m1 m2 x
the following expression for the PDF of R (15)
m1 +m2 m1 +m2
m 2 m2 2 rm1 +m2 −1 where 2 F1 (·, ·; ·; ·) denotes the Gauss hypergeometric
fR (r) = 1 function [14, eq. (9.100)]. In addition, the corresponding
Γ(m1 ) Γ(m2 ) Γ(a1 )Γ(a2 )
a1 +a2 +2(m1 +m2 )−1 CDF expression can be evaluated by employing the
2 (11)
× definition of the CDF and (4) yielding to
πγ 2(m1 +m2 ) ∫ ∞∫ x
( 4 )
2 m1 m2 r2 A1 ,A2 ,A3 ,A4 FQ (x) = fN (x|y)fIi (y)dxdy. (16)
× G2,4
4,2 m2 −m1 m −m ,
γ4 2 ,− 2 2 1 0 0

1−m1 −m2 −a2

where A1 = 2 , A2 = 2−m1 −m
2
2 −a2
, A3 = Following such an approach and using [17, eqs. (21)
1−m1 −m2 −a1 2−m1 −m2 −a1 and (26)], yields the following closed-form expression
2 , A4 = 2 ∫z . Moreover, the CDF
of R is defined as FR (z) = 0 fR (r)dr. Substituting for the CDF of Q
(11) in this definition, using [17, eq. (26)], and after m1 +m2
(m1 m2 ) 2 xm1 +m2 2m1 +m2 +ai −1
some mathematical manipulations yields FQ (x) = √
Γ(m1 )Γ(m2 )Γ(ai ) πγ m1 +m2
m1 +m2 m1 +m2 ( 2 , 1−m1 −m2 −ai , 2−m1 −m2 −ai
)
m 2 m2 2 z m1 +m2 m1 m2 x2 1− m1 +m
FR (z) = 1 ×G2,3
3,3
2 2 2
.
Γ(m1 ) Γ(m2 ) Γ(a1 )Γ(a2 ) γ 2 2−2 m2 −m1
2
m −m m +m
,− 2 2 1 ,− 2 2 1

2 a1 +a2 +2(m1 +m2 )−2 (17)

×
πγ 2(m1 +m2 ) Using [14, eq. (6.561/16)], the moments of Q can be
( 4 )
2 m1 m2 z 2 A1 ,A2 ,A3 ,A4 ,1− m1 +m 2 evaluated as
× G2,5
5,3 m2 −m1 m −m
2
.
γ4 2
m +m
,− 2 2 1 ,− 2 2 1 γn Γ (n/2 + m1 ) Γ (n/2 + m2 )
(12) E ⟨Qn ⟩ = n
(m1 m2 ) 2Γ(ai )Γ(m1 )Γ(m2 )
The moments of R are defined as E ⟨Rn ⟩, with E ⟨·⟩ × Γ(ai − n).
denoting expectation. Substituting (11) in this definition, (18)

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 2019 IEEE Wireless Communications and Networking Conference (WCNC)
Fig. 2. Measurement environment with the red pin and line showing
the position of the Rx and the 2nd airship route segment, respectively.
IV. M EASUREMENT E NVIRONMENT AND
N UMERICAL R ESULTS
In this section, numerical evaluated results of the
theoretical expressions will be presented and compared
with empirical ones, collected in a UAV-to-ground chan-
nel measurement campaign. Firstly, the measurement
environment and equipment will be briefly presented and
then the corresponding results will be provided.
A. Measurement Environment & Equipment
The measurement campaign took place in Prague in
an urban pedestrian environment, having a Tx mounted
on the bottom part of a zeppelin-type airship and a
fixed Rx positioned on street level in the middle of a
crossroad as shown in Fig. 2. The airship moved at a
constant speed of 6.2 m/s, in a pre-defined route over the
position where the Rx was located, as shown in Fig. 3.
The flight level was maintained at approximately 200 m
above the ground while the Rx kept stationary, mounted
on a tripod at 1.7 m above the ground. It is noted
that during the measurement campaign, in the vicinity
of the receiver, moving vehicles existed, acting as non
stationary scatterers. The airship was equipped with a
GPS sensor, enabling the Tx antennas to constantly point
towards the Rx by using a positioner attached to the
bottom part as well as providing distance calculation
between Rx-Tx. In this scenario, the Tx configuration
was utilizing one right- (RHCP) and one left-handed
(LHCP) circularly polarized spiral antenna to transmit
continuous wave (CW) signals, each with a fixed output
power of 27 dBm. The transmitted signals were received
by a single dual-polarized antenna (collocated). This
antenna consisted of a dual-linearly polarized rectangular
patch antenna and an H-hybrid coupler which shifted
the received orthogonal linearly polarized components
by 90o in phase in order to create RHCP and LHCP
signals. More details for the measurement campaign can
be found in [12].
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Fig. 3. Measurement environment and total airship route. The red pin
indicates the position of the Rx while the orange and red colored areas
specify the 1st and 2nd nLOS segments examined, respectively.
TABLE I
KL G OODNES OF F IT.
Segment #1 #2
dNI (DIG) 6.7% 4.2%
dNI (SIG) 6.75% 5.16%
dKG 7.24% 5.62%
B. Results
Based on the statistical framework developed on the
previous section and the empirical data collected in
[12], various comparative results are presented. Three
composite double-scattering distributions have been in-
vestigated, namely the double-Nakagami double-gamma,
which is widely known as double-generalized K (dkG )1
[7], the proposed double-Nakagami dIG (dNI (DIG)),
and, a special case of the latter one, the double-
Nakagami with single IG (dNI (SIG)). From the air-
ship measurement scenario, two different segments are
studied, in which nLOS propagation conditions exist
focusing, thus, to the impact of shadowing on the re-
ceived signal. In order to estimate the parameters of
all distributions, the method of moments was employed.
Moreover, the goodness of fit was assessed according
to the Kullback–Leibler (KL) divergence criterion [18].
1 It should be noted that to the best of the authors’ knowledge, it is
the first time that shadowed double-scattering analytical models, like
the proposed one or the dkG one, have been compared with empirical
results for UAV-to-ground communication environments.
 2019 IEEE Wireless Communications and Networking Conference (WCNC)

1 1.2
Empirical Data Empirical Data
0.9 dN (DIG) dN (DIG)
I I
dN I (SIG) 1 dN I (SIG)
0.8
dKG dKG
0.7
0.8
0.6
pdf

pdf
0.5 0.6

0.4
0.4
0.3

0.2
0.2
0.1

0 0
0 0.5 1 1.5 2 0 0.5 1 1.5 2
Normalized Received Signal Amplitude Normalized Received Signal Amplitude

Fig. 4. Empirical and theoretical PDFs comparisons (SEG1). Fig. 6. Empirical and theoretical PDFs comparisons (SEG2).

1 1

0.9 0.9
Probability the abscissa is not exceeded

Probability the abscissa is not exceeded

0.8 0.8

0.7 0.7

0.6 0.6

0.5 0.5

0.4 0.4

0.3 0.3
Empirical Data Empirical Data
0.2 dN I (DIG) 0.2 dN I (DIG)
dN I (SIG) dN I (SIG)
0.1 0.1
dKG dKG

0 0
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
Normalized Received Signal Amplitude Normalized Received Signal Amplitude

Fig. 5. Empirical and theoretical CDFs comparisons (SEG1). Fig. 7. Empirical and theoretical CDFs comparisons (SEG2).

Based on it, the KL distance is given by [19] can be easily verified by the shapes of the PDFs and
( ( ) ∑ ( )) CDFs in Figs. 4-7, in which the direct LoS component
1 ∑ pi qi is almost totally blocked. In all scenarios, the double-
dKL = pi log + qi log ,
2 i
qi i
pi scattered signals may emanate from reflections along
(19) the vehicles and the multiple building facades from
where pi and qi are the sets of the simulated and the structures surrounding the Rx. Interesting outcomes
empirical PDF values, respectively. The distribution that can be also extracted from the estimated values of the
fits best to the measured data is the one that minimizes distributions’ shaping parameters, which are provided in
the distance KL. Table II. More specifically, in all scenarios it is shown
As shown in Table I, in both scenarios the distance that the small-scale fading parameters preserve higher
KL remains below 10%, with the models incorporating values for the first bounce, while for the second one, they
the IG distribution holding always the smallest values for tend to 1. The reason for this behavior lies on the fact
this criterion. The good fit is also verified in Figs. 4-7, that a strong LoS component exists at the first bounce,
where plots with the theoretical and empirical PDFs and since limited scatterers exist around the Tx. On the other
CDFs are provided. A general observation that comes out hand, in the second bounce, nLoS conditions exist, as it
of these figures is that the scenarios under investigation is also verified by the quite low values of the Nakagami-
are characterized by nLOS conditions (for the end-to-end m parameter. Nevertheless, in all scenarios the severity
link) and strong scattering phenomena at the Rx side, due of the shadowing is not so important, which justifies
to the moving vehicles and surrounding buildings. This the usefulness of the UAVs for coverage improvement

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 2019 IEEE Wireless Communications and Networking Conference (WCNC)
TABLE II
E STIMATED VALUES FOR THE S HAPING PARAMETERS .
SEG1
Parameter
dNI (DIG) dNI (SIG)
m1 22 22
m2 1.6 1.6
a1 18 - 18
a2 18 18
purposes.
V. C ONCLUSIONS
In this paper, a new shadowed double-scattering dis-
tribution has been proposed for modeling situations, in
which double-scattering co-exists with shadowing. For
the new distribution, important statistical characteristics
have been analytically derived, such as the PDF, CDF,
and the moments. Moreover, a special case has been
also studied, in which shadowing exists in only one
of the two scattering regions, resulting to simplified
analytical expressions. The theoretical and simulated
PDFs and CDFs are compared with empirical ones,
which are obtained using empirical data from a air-to-
ground measurement campaign. It was shown that the
proposed model fits quite well the empirical one for this
kind of environments.
ACKNOWLEDGEMENT
The publication of this paper has been partly sup-
ported by the University of Piraeus Research Center.
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