Altitude-varying BeamCKM construction

Develop a full three-dimensional BeamCKM construction method that supports altitude-varying UAV trajectories beyond the fixed-altitude horizontal maps considered in the paper.

Background

The proposed BeamCKMDiff framework generates a horizontal BeamCKM at the UAV’s fixed operational altitude. The paper notes that a three-dimensional CKM could be obtained by stacking maps generated at multiple altitudes, but the presented formulation does not address trajectories whose altitude changes over time. Extending the framework to such trajectories would require modeling altitude-dependent propagation, blockage geometry, and beam-aware channel gains.

References

The resulting BeamCKM is a horizontal map at the operational altitude. A full three-dimensional CKM can be formed by stacking maps generated at multiple altitudes; extension to altitude-varying trajectories is left for future work.

— Intelligent Beamforming and Handover via Physics-Informed Beam-Aware CKM Diffusion  (2609.34704 - Zhao et al., 28 Sep 2026) in Section II-A, subsection “Environment and UAV model”