CN110445532B - Unmanned aerial vehicle cellular communication multi-base station data fusion method based on ordered circular queue - Google Patents
Unmanned aerial vehicle cellular communication multi-base station data fusion method based on ordered circular queue Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle communication, and discloses an unmanned aerial vehicle cellular communication multi-base station data fusion method based on an ordered circular queue, which comprises the following steps: building a hybrid base station; building a cellular communication network using the hybrid base station; the unmanned aerial vehicle sends a telemetry frame to the hybrid base station; selecting an active base station from the hybrid base stations; the active base station sends a telemetering relay frame to the console; the control console constructs a plurality of ordered circular queues aiming at the unmanned aerial vehicles; the console writes the data into the ordered circular queue; the console reads the data of the ordered circular queue; and the console writes the data of all the telemetry relay frames into the ordered circular queues, and the console reads the data in all the ordered circular queues. According to the invention, a hybrid base station cellular communication framework is utilized, a plurality of hybrid base stations transmit telemetering data for the unmanned aerial vehicle, and data fusion is carried out by utilizing the ordered circular queue, so that the packet loss rate of important data is reduced, and the time complexity of the system is reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle communication, and particularly relates to an unmanned aerial vehicle cellular communication multi-base-station data fusion method based on an ordered circular queue.
Background
Along with the development of unmanned aerial vehicle technology, unmanned aerial vehicle no longer simply is applied to aspects such as movie & TV shooting, miniature autodyne, all has the application in fields such as agriculture, commodity circulation, disaster relief, observation wild animal, control infectious disease, survey and drawing, news report, electric power patrol inspection, and the measurement and control problem of medium and long distance unmanned aerial vehicle also gets more and more attentions.
Due to the limitation of a communication system, a ground communication network (such as 4G, WiFi) cannot be applied to the field of unmanned aerial vehicle measurement and control. The current channel modes for unmanned aerial vehicle measurement and control include a satellite communication mode and a radio station communication mode. Most unmanned aerial vehicles all adopt radio station communication mode in the market, and unmanned aerial vehicle passes through radio station and is connected with the control cabinet, and its shortcoming is that communication distance is limited, generally does not exceed 50 kilometers, can not satisfy remote unmanned aerial vehicle's observing and controlling. A small number of unmanned aerial vehicles adopt a satellite communication mode, carry satellite terminals, and are directly connected with a control console through a satellite channel. In addition, most satellite terminals are large in size and weight and occupy limited load capacity of the unmanned aerial vehicle; although the volume of few satellite terminals is small, the code rate is low, and the requirement of image transmission cannot be met.
In the measurement and control process of the unmanned aerial vehicle, due to uncertainty of a wireless channel, data packet loss may occur to a base station closest to the unmanned aerial vehicle sometimes, but a base station far away from the unmanned aerial vehicle may successfully receive telemetering data, so that important data packet loss of the unmanned aerial vehicle is caused, and the quality of information transmission of the unmanned aerial vehicle is influenced. At the present stage, no unit and person uses hybrid base station cellular communication for the unmanned aerial vehicle, and a corresponding unmanned aerial vehicle cellular communication multi-base station data fusion method based on ordered circular queues does not appear.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention aims to provide an orderly cyclic queue-based method for data fusion of multiple base stations in cellular communication of an unmanned aerial vehicle, wherein a hybrid base station cellular communication architecture is utilized, a plurality of hybrid base stations jointly transmit some key telemetry data for the same unmanned aerial vehicle, and the orderly cyclic queue is utilized to perform data fusion, so that the packet loss rate of important data is reduced, and the time complexity of the system is reduced.
The technical scheme adopted by the invention is as follows: the unmanned aerial vehicle cellular communication multi-base station data fusion method based on the ordered circular queue comprises the following steps:
s1, building a hybrid base station;
s2, constructing a cellular communication network by using the hybrid base station;
s3, each unmanned aerial vehicle sends a telemetry frame to each hybrid base station in a communication range, wherein the telemetry frame comprises an unmanned aerial vehicle number, a telemetry frame number and telemetry data;
s4, selecting a plurality of hybrid base stations for transmitting data of the unmanned aerial vehicle from the hybrid base stations as active base stations of the unmanned aerial vehicle;
s5, each active base station sends a telemetry relay frame of each unmanned aerial vehicle to the console, wherein the telemetry relay frame comprises an unmanned aerial vehicle number, a base station number, a telemetry frame number and telemetry data;
s6, the console receives the telemetering relay frames sent by each active base station, N ordered circular queues are constructed for N different unmanned aerial vehicles, and one unmanned aerial vehicle number corresponds to one ordered circular queue;
s7, the console writes the data of the telemetry relay frame into the corresponding ordered circular queue;
s8, the console reads the data in each ordered circular queue;
and S9, the console receives the next telemetering relay frame, repeats S7 to enable the console to write the data of all the telemetering relay frames into the corresponding ordered circular queues, and then repeats S8 to enable the console to read the data in all the ordered circular queues until all the data are read.
Preferably, in S6, the method for constructing the ordered circular queue by the console specifically includes the following steps:
s61, the console builds a telemetering relay frame arrival queue according to a first-in first-out criterion;
s62, when the console receives a telemetering relay frame, the telemetering relay frame arrival queue increases by one length;
and S63, the distribution unit of the console sequentially takes out one telemetry relay frame from the telemetry relay frame arrival queue for distribution processing, the processing unit of the console constructs different ordered circular queues according to different unmanned aerial vehicle numbers in the distributed telemetry relay frame, the ordered circular queues comprise a plurality of message frames, and the message frames comprise telemetry frame numbers and telemetry data.
Preferably, in S7, the step of writing the data of the telemetry relay frame into the corresponding ordered circular queue by the console specifically includes the following steps:
s71, for each telemetry relay frame in the telemetry relay frame arrival queue, the console acquires the number Num of the unmanned aerial vehicle and the number No of the telemetry frame in the telemetry relay frame;
s72, locking the ordered circular queue corresponding to the unmanned aerial vehicle number Num;
s73, judging whether the ordered circular queue is full, if not, entering S74; if the ordered circular queue is full, discarding the telemetry relay frame, and then entering S77;
s74, judging whether the telemetering relay frame is a new telemetering relay frame, and entering S75 if the telemetering relay frame is not the new telemetering relay frame; if the telemetry relay frame is a new telemetry relay frame, updating the queue tail pointer of the ordered circular queue, packaging the new telemetry relay frame into a new message frame, inserting the new telemetry relay frame into the last position of the queue tail pointer in the ordered circular queue, and then entering S77;
s75, judging whether the telemetering relay frame is overtime, if the telemetering relay frame is not overtime, entering S76; if the telemetry relay frame has timed out, discarding the telemetry relay frame, and then proceeding to S77;
s76, judging whether the telemetering relay frame is stored in the ordered circular queue, if so, discarding the telemetering relay frame, and then entering S77; if the telemetering relay frame is not stored in the ordered circular queue, packaging the telemetering relay frame into a new message frame and inserting the new message frame into the ordered circular queue;
s77, unlocking the ordered circular queue.
Preferably, in S73, the specific way of determining whether the ordered circular queue is full is: if H isNum-1-TNum-1If the value is 1, the ordered circular queue is full, otherwise, the ordered circular queue is not full; hNum-1Head of line pointer, T, representing the ordered circular queueNum-1A tail pointer representing the ordered circular queue.
Preferably, in S74, the specific manner of determining whether the telemetry relay frame is a new telemetry relay frame is as follows: if the telemetry frame number of the telemetry relay frame
The telemetry relay frame is a new telemetry relay frame, otherwise the telemetry relay frame is not a new telemetry relay frame; a new telemetry relay frame is wrapped as a new message frame and inserted into the ordered circular queue at an address of (T)Num-1-1) at the location of the storage, wherein,
LNum-1table the length of the ordered circular queue,
indicating the telemetry frame number in the queue tail message frame in the ordered circular queue.
Preferably, in S75, the specific manner of determining whether the telemetry relay frame times out is as follows: if it is
If the telemetry relay frame has not timed out, otherwise, the telemetry relay frame has timed out; no represents the telemetry frame number of the telemetry relay frame;
a telemetry frame number representing a queue tail message frame in the ordered circular queue;
indicating the telemetry frame number of the message frame corresponding to the head of queue pointer in the ordered circular queue.
Preferably, in S76, the specific way of determining whether the telemetry relay frame is already stored in the ordered circular queue is: if the telemetry frame number of the telemetry relay frame is equal to the address in the ordered circular queue
If the telemetry frame number of the corresponding message frame is not stored in the ordered circular queue, the console packs the telemetry relay frame into a new message frame and inserts the new message frame into the ordered circular queue with the address of
Is stored at the location of (a).
Preferably, in S8, the method for the console to read the telemetry data in each ordered circular queue includes the following steps:
s81, judging whether each ordered circular queue is empty, if the ordered circular queue is empty, not reading data; if the ordered circular queue is not empty, go to S82;
s82, locking the ordered circular queue;
s83, reading the message frame corresponding to the head pointer in the ordered circular queue, writing back the telemetry frame number in the message frame to null, and pointing the head pointer of the ordered circular queue to the next message frame with the telemetry frame number not null;
s84, unlocking the ordered circular queue.
Preferably, in S81, the specific way of determining whether each ordered circular queue is empty is: and if the head pointer and the tail pointer of the ordered circular queue are the same, the ordered circular queue is empty, otherwise, the ordered circular queue is not empty.
Preferably, the console writes the data of the telemetry relay frame into the corresponding ordered circular queue in S7 concurrently with the console performing a read operation on the data in each ordered circular queue in S8.
The invention has the beneficial effects that:
1. the invention provides an unmanned aerial vehicle cellular communication multi-base-station data fusion method based on an ordered circular queue, which solves the problem that the measurement and control range of an unmanned aerial vehicle is too small in a radio station communication mode through mixed base station cellular communication, solves the problem that a satellite terminal is high in cost in a satellite communication mode, and relatively increases the available load capacity of the unmanned aerial vehicle because the satellite terminal does not need to be carried.
2. The control console of the invention constructs the telemetering relay frame arrival queue according to the telemetering relay frames sent by each active base station, and then constructs a plurality of ordered circular queues according to the telemetering relay frame arrival queue, and the data fusion mode of a plurality of mixed base stations is utilized, so that the problem of the transmission reliability of some key telemetering data is solved, the packet loss rate of important data is reduced, the anti-interference performance of data transmission is enhanced, and the data receiving robustness is improved.
3. The invention is based on the data structure of the ordered circular queue, ensures the data receiving orderliness, simultaneously ensures that each frame of telemetering data only needs to compare the frame number once when the data is fused, reduces the time complexity, solves the time complexity problem of the data fusion of a plurality of mixed base stations under the scene of a plurality of unmanned aerial vehicles, and improves the data inserting and reading speed by utilizing the double pointers of the head of the queue and the tail of the queue, so that the console can correctly and quickly obtain the telemetering data of each unmanned aerial vehicle.
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FIG. 1 is a flow chart of a method for fusing multi-base-station data of cellular communication of an unmanned aerial vehicle based on ordered circular queues, provided by the invention;
FIG. 2 is a topological diagram of an unmanned aerial vehicle cellular communication multi-base station data fusion method based on ordered circular queues;
fig. 3 is an explanatory diagram of a format of a telemetry relay frame in the unmanned aerial vehicle cellular communication multi-base station data fusion method based on ordered circular queues provided by the invention;
fig. 4 is an explanatory diagram of an ordered circular queue in the unmanned aerial vehicle cellular communication multi-base station data fusion method based on the ordered circular queue provided by the invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As shown in fig. 1, the present embodiment provides an unmanned aerial vehicle cellular communication multi-base station data fusion method based on ordered circular queues, including the following steps:
s1, M hybrid base stations are built, communication between the hybrid base stations and the unmanned aerial vehicle is achieved, communication between the hybrid base stations and the relay satellite is achieved, and then communication between the unmanned aerial vehicle and the console is achieved.
S2, building a cellular communication network using the hybrid base station. As shown in fig. 2, in a cellular communication network, a single hybrid base station is used as a center of a circle, the single hybrid base station can cover a circular area with a radius of 10-250 km, a plurality of hybrid base stations can cover a larger area through reasonable layout, and in order to prevent some areas from being uncovered, coverage areas among the hybrid base stations are crossed. By using the hybrid base station cellular communication, the signal coverage area is wide, and the measurable control range of the unmanned aerial vehicle is improved.
And S3, each unmanned aerial vehicle sends a telemetry frame to each hybrid base station in the communication range, wherein the telemetry frame comprises an unmanned aerial vehicle number Num, a telemetry frame number No and telemetry data D.
S4, M hybrid base stations used for transmitting data of the unmanned aerial vehicle are selected from the M hybrid base stations to serve as active base stations of the unmanned aerial vehicle, wherein M is smaller than or equal to M. The selection mode of m movable base stations can be flexibly set, and preferably, the m movable base stations are the hybrid base stations closest to the unmanned aerial vehicle.
And S5, each active base station sends the telemetry relay frame of each unmanned aerial vehicle to the console, wherein the telemetry relay frame comprises an unmanned aerial vehicle number Num, a base station number Num, a telemetry frame number No and telemetry data D, and the format of the telemetry relay frame is shown in figure 3. Due to the uncertainty of the wireless channel, some active base stations may not receive the telemetry frame of the drone, and the active base station does not send a telemetry relay frame to the console.
And S6, the console receives the telemetry relay frame sent by each active base station, N ordered circular queues are constructed for N different unmanned aerial vehicles, and one unmanned aerial vehicle number Num corresponds to one ordered circular queue.
Since the telemetry relay frames with the same unmanned aerial vehicle number Num and the same telemetry frame number No are sent by the m active base stations, and the channel between each active base station and the console has No synchronism, the telemetry relay frames with the same unmanned aerial vehicle number Num and the same telemetry frame number No arrive out of order; meanwhile, the console receives the telemetry relay frames with different unmanned aerial vehicle numbers, and the telemetry relay frames with different unmanned aerial vehicle numbers arrive out of order. In order that the console can correctly and quickly receive the telemetry data of the N unmanned aerial vehicles, an ordered circular queue structure is adopted. The method for constructing the ordered circular queue by the console comprises the following steps of:
s61, the console builds a telemetering relay frame arrival queue according to a first-in first-out criterion;
s62, when the console receives a telemetering relay frame, the telemetering relay frame arrival queue increases by one length;
and S63, the distribution unit of the console sequentially takes out one telemetry relay frame from the telemetry relay frame arrival queue for distribution processing, the processing unit of the console constructs different ordered circular queues according to different unmanned aerial vehicle numbers Num in the distributed telemetry relay frames, the ordered circular queues comprise a plurality of message frames, and the message frames comprise telemetry frame numbers No and telemetry data D.
As shown in FIG. 4, in the telemetry relay frame arrival queue, F0Indicating the 1 st telemetry relay frame received by the console, FiRepresents the i +1 th telemetry relay frame received by the console; take unmanned aerial vehicle number k as an example, wherein
An i +1 th message frame representing an ordered circular queue for unmanned aerial vehicle # k, the message frame being extracted from the contents of the telemetry relay frame and comprising a telemetry frame number
And telemetry data
Equal information, Hk-1Indicating the head of line pointer, T, of unmanned plane kk-1The length of a circulating queue of the k unmanned aerial vehicle is Lk-1To do so by
Starting address S of ordered circular queue buffer zone of unmanned aerial vehicle with address of k numberk-1If the length of the ordered circular queue gradually increases, the ending address of the ordered circular queue buffer area of the unmanned aerial vehicle # k is Ek-1＝Sk-1+Lk-1-1。
The console builds a telemetering relay frame arrival queue, and then builds a plurality of ordered circular queues according to the telemetering relay frame arrival queue, and the console solves the problem of transmission reliability of some key telemetering data by using a multi-hybrid base station data fusion mode, reduces the packet loss rate of important data, enhances the anti-interference performance of data transmission, and improves the robustness of data reception.
S7, the console writes the data of the telemetry relay frame into the corresponding ordered circular queue, which specifically includes the following steps:
s71, for each telemetry relay frame in the telemetry relay frame arrival queue, the console obtains the drone number Num and the telemetry frame number No in the telemetry relay frame.
And S72, locking the ordered circular queue corresponding to the unmanned aerial vehicle number Num.
S73, judging whether the ordered circular queue is full, if not, entering S74; if the ordered circular queue is full, the telemetry relay frame is discarded, and then S77 is entered.
The specific way of judging whether the ordered circular queue is full is as follows: if H isNum-1-TNum-1If the value is 1, the ordered circular queue is full, otherwise, the ordered circular queue is not full; for unmanned aerial vehicle numbered as Num, HNum-1Head of line pointer, T, representing an ordered circular queue with the number Num of the unmanned aerial vehicleNum-1A queue tail pointer of the ordered circular queue with the number of the unmanned aerial vehicle being Num;
s74, judging whether the telemetering relay frame is a new telemetering relay frame, and entering S75 if the telemetering relay frame is not the new telemetering relay frame; if the telemetry relay frame is a new telemetry relay frame, the queue tail pointer of the ordered circular queue is updated, the new telemetry relay frame is packaged as a new message frame and inserted into the ordered circular queue at the last position of the queue tail pointer, and then S77 is entered. The specific way of judging whether the telemetry relay frame is a new telemetry relay frame is as follows: if the telemetry frame number N of the telemetry relay frameO>
The telemetry relay frame is a new telemetry relay frame, otherwise the telemetry relay frame is not a new telemetry relay frame; the new telemetry relay frame is packaged into a new message frame, and the address inserted into the ordered circular queue is (TNum-1-1) is stored at the location of the location,
LNum-1table the length of the ordered circular queue,
indicating the telemetry frame number in the queue tail message frame in the ordered circular queue, operator% indicating the remainder operation.
S75, judging whether the telemetering relay frame is overtime, if the telemetering relay frame is not overtime, entering S76; if the telemetry relay frame has timed out, discarding the telemetry relay frame, and then proceeding to S77;
the specific way of judging whether the telemetry relay frame is overtime is as follows: if it is
If the telemetry relay frame has not timed out, otherwise, the telemetry relay frame has timed out;
no represents the telemetry frame number of the telemetry relay frame;
s76, judging whether the telemetering relay frame is stored in the ordered circular queue, if so, discarding the telemetering relay frame, and then entering S77; if the telemetry relay frame is not stored in the ordered circular queue, the telemetry relay frame is packaged as a new message frame and inserted into the ordered circular queue.
Wherein it is determined whether the telemetry relay frame is already in the ordered circular queueThe specific way of storing is as follows: if the telemetry frame number of the telemetry relay frame is equal to the address in the ordered circular queue
And if the telemetry frame number of the corresponding message frame is not stored in the ordered circular queue, the telemetry relay frame is not stored in the ordered circular queue. For telemetry relay frames not stored in the ordered circular queue, the console packs the telemetry relay frames into new message frames and inserts the new message frames into the ordered circular queue with the address of
Is stored at the location of (a).
S77, unlocking the ordered circular queue.
S8, the console performs a read operation on the data in each ordered circular queue, and the method specifically includes the following steps:
s81, judging whether each ordered circular queue is empty, if the ordered circular queue is empty, not reading data; if the ordered circular queue is not empty, S82 is entered.
The specific way of judging whether each ordered circular queue is empty is as follows: and if the head pointer and the tail pointer of the ordered circular queue are the same, the ordered circular queue is empty, otherwise, the ordered circular queue is not empty.
S82, locking the ordered circular queue;
s83, reading the message frame corresponding to the head pointer in the ordered circular queue, writing back the telemetry frame number in the message frame to null, and pointing the head pointer of the ordered circular queue to the next message frame with the telemetry frame number not null;
s84, unlocking the ordered circular queue.
And S9, the console receives the next telemetering relay frame, repeats S7 to enable the console to write the data of all the telemetering relay frames into the corresponding ordered circular queues, and then repeats S8 to enable the console to read the data in all the ordered circular queues until all the data are read.
Preferably, the console writes the data of the telemetry relay frame into the corresponding ordered circular queue in S7 and performs the reading operation on the data in each ordered circular queue concurrently with the console in S8, thereby improving the information transmission efficiency.
The invention is based on the data structure of the ordered circular queue, ensures the data receiving orderliness, simultaneously ensures that each frame of telemetering data only needs to compare the frame number once when the data is fused, reduces the time complexity, solves the time complexity problem of the data fusion of a plurality of mixed base stations under the scene of a plurality of unmanned aerial vehicles, and improves the data inserting and reading speed by utilizing the double pointers of the head of the queue and the tail of the queue, so that the console can correctly and quickly obtain the telemetering data of each unmanned aerial vehicle.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (9)
1. An unmanned aerial vehicle cellular communication multi-base station data fusion method based on ordered circular queues is characterized by comprising the following steps:
s1, building a hybrid base station;
s2, constructing a cellular communication network by using the hybrid base station;
s3, each unmanned aerial vehicle sends a telemetry frame to each hybrid base station in a communication range, wherein the telemetry frame comprises an unmanned aerial vehicle number, a telemetry frame number and telemetry data;
s4, selecting a plurality of hybrid base stations for transmitting data of the unmanned aerial vehicle from the hybrid base stations as active base stations of the unmanned aerial vehicle;
s5, each active base station sends a telemetry relay frame of each unmanned aerial vehicle to the console, wherein the telemetry relay frame comprises an unmanned aerial vehicle number, a base station number, a telemetry frame number and telemetry data;
s6, the console receives the telemetering relay frames sent by each active base station, N ordered circular queues are constructed for N different unmanned aerial vehicles, and one unmanned aerial vehicle number corresponds to one ordered circular queue;
s7, the console writes the data of the telemetry relay frame into the corresponding ordered circular queue;
s8, the console reads the data in each ordered circular queue;
s9, the console receives the next telemetering relay frame, the S7 is repeated to enable the console to write the data of all the telemetering relay frames into the corresponding ordered circular queues, and then the S8 is repeated to enable the console to read the data in all the ordered circular queues until all the data are read;
in S6, the console constructing the ordered circular queue specifically includes the following steps:
s61, the console builds a telemetering relay frame arrival queue according to a first-in first-out criterion;
s62, when the console receives a telemetering relay frame, the telemetering relay frame arrival queue increases by one length;
and S63, the distribution unit of the console sequentially takes out one telemetry relay frame from the telemetry relay frame arrival queue for distribution processing, the processing unit of the console constructs different ordered circular queues according to different unmanned aerial vehicle numbers in the distributed telemetry relay frame, the ordered circular queues comprise a plurality of message frames, and the message frames comprise telemetry frame numbers and telemetry data.
2. The unmanned aerial vehicle cellular communication multi-base-station data fusion method based on ordered circular queues as claimed in claim 1, wherein in S7, the step of writing the data of the telemetry relay frame into the corresponding ordered circular queue by the console specifically comprises the following steps:
s71, for each telemetry relay frame in the telemetry relay frame arrival queue, the console acquires the number Num of the unmanned aerial vehicle and the number No of the telemetry frame in the telemetry relay frame;
s72, locking the ordered circular queue corresponding to the unmanned aerial vehicle number Num;
s73, judging whether the ordered circular queue is full, if not, entering S74; if the ordered circular queue is full, discarding the telemetry relay frame, and then entering S77;
s74, judging whether the telemetering relay frame is a new telemetering relay frame, and entering S75 if the telemetering relay frame is not the new telemetering relay frame; if the telemetry relay frame is a new telemetry relay frame, updating the queue tail pointer of the ordered circular queue, packaging the new telemetry relay frame into a new message frame, inserting the new telemetry relay frame into the last position of the queue tail pointer in the ordered circular queue, and then entering S77;
s75, judging whether the telemetering relay frame is overtime, if the telemetering relay frame is not overtime, entering S76; if the telemetry relay frame has timed out, discarding the telemetry relay frame, and then proceeding to S77;
s76, judging whether the telemetering relay frame is stored in the ordered circular queue, if so, discarding the telemetering relay frame, and then entering S77; if the telemetering relay frame is not stored in the ordered circular queue, packaging the telemetering relay frame into a new message frame and inserting the new message frame into the ordered circular queue;
s77, unlocking the ordered circular queue.
3. The unmanned aerial vehicle cellular communication multi-base-station data fusion method based on the ordered circular queue as claimed in claim 2, wherein in S73, the specific manner for determining whether the ordered circular queue is full is: if H isNum-1-TNum-1If the value is 1, the ordered circular queue is full, otherwise, the ordered circular queue is not full; hNum-1Head of line pointer, T, representing the ordered circular queueNum-1A tail pointer representing the ordered circular queue.
4. The method for unmanned aerial vehicle cellular communication multi-base-station data fusion based on ordered circular queue as claimed in claim 3, wherein in S74, it is determined whether the telemetry relay frame is a new telemetry relay frameThe specific method for measuring the relay frame is as follows: if the telemetry frame number of the telemetry relay frame
The telemetry relay frame is a new telemetry relay frame, otherwise the telemetry relay frame is not a new telemetry relay frame; a new telemetry relay frame is wrapped as a new message frame and inserted into the ordered circular queue at an address of (T)Num-1-1) at the location of the storage, wherein,
LNum-1table the length of the ordered circular queue,
indicates the telemetry frame number, S, in the queue tail message frame in the ordered circular queueNum-1Indicating the starting address of the ordered circular queue buffer.
5. The unmanned aerial vehicle cellular communication multi-base-station data fusion method based on ordered circular queue according to claim 4, wherein in S75, the specific way of judging whether the telemetry relay frame is overtime is: if it is
If the telemetry relay frame has not timed out, otherwise, the telemetry relay frame has timed out; no represents the telemetry frame number of the telemetry relay frame;
a telemetry frame number representing a queue tail message frame in the ordered circular queue;
indicating the telemetry frame number of the message frame corresponding to the head of queue pointer in the ordered circular queue.
6. According to claim 5The unmanned aerial vehicle cellular communication multi-base station data fusion method based on the ordered circular queue is characterized in that in S76, the specific mode of judging whether the telemetry relay frame is stored in the ordered circular queue is as follows: if the telemetry frame number of the telemetry relay frame is equal to the address in the ordered circular queue
If the telemetry frame number of the corresponding message frame is not stored in the ordered circular queue, the console packs the telemetry relay frame into a new message frame and inserts the new message frame into the ordered circular queue with the address of
Is stored at the location of (a).
7. The unmanned aerial vehicle cellular communication multi-base-station data fusion method based on ordered circular queues as claimed in claim 2, wherein in S8, the operation of reading telemetry data in each ordered circular queue by the console specifically comprises the following steps:
s81, judging whether each ordered circular queue is empty, if the ordered circular queue is empty, not reading data; if the ordered circular queue is not empty, go to S82;
s82, locking the ordered circular queue;
s83, reading the message frame corresponding to the head pointer in the ordered circular queue, writing back the telemetry frame number in the message frame to null, and pointing the head pointer of the ordered circular queue to the next message frame with the telemetry frame number not null;
s84, unlocking the ordered circular queue.
8. The unmanned aerial vehicle cellular communication multi-base-station data fusion method based on ordered circular queues as claimed in claim 7, wherein in S81, the specific manner of determining whether each ordered circular queue is empty is: and if the head pointer and the tail pointer of the ordered circular queue are the same, the ordered circular queue is empty, otherwise, the ordered circular queue is not empty.
9. The method for unmanned aerial vehicle cellular communication multi-base-station data fusion based on ordered circular queues as claimed in claim 1, wherein the console writes the data of the telemetry relay frame into the corresponding ordered circular queue in S7 concurrently with the console reading the data in each ordered circular queue in S8.
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