WO2021035639A1 - Procédé de traitement de signal de commande à distance, dispositif de commande à distance et système de commande à distance - Google Patents

Procédé de traitement de signal de commande à distance, dispositif de commande à distance et système de commande à distance Download PDF

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Publication number
WO2021035639A1
WO2021035639A1 PCT/CN2019/103419 CN2019103419W WO2021035639A1 WO 2021035639 A1 WO2021035639 A1 WO 2021035639A1 CN 2019103419 W CN2019103419 W CN 2019103419W WO 2021035639 A1 WO2021035639 A1 WO 2021035639A1
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WIPO (PCT)
Prior art keywords
remote control
control signal
signal
movable platform
perform
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Application number
PCT/CN2019/103419
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English (en)
Chinese (zh)
Inventor
陈颖
马宁
赵亮
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980030385.7A priority Critical patent/CN112106122B/zh
Priority to PCT/CN2019/103419 priority patent/WO2021035639A1/fr
Publication of WO2021035639A1 publication Critical patent/WO2021035639A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C15/00—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path
    • G08C15/02—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path simultaneously, i.e. using frequency division
    • G08C15/04—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path simultaneously, i.e. using frequency division the signals being modulated on carrier frequencies
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
    • H04L1/0056—Systems characterized by the type of code used
    • H04L1/0061—Error detection codes

Definitions

  • the present invention relates to the field of communication technology, in particular to a remote control signal processing method, remote control equipment and remote control system.
  • the movable platform (such as aerial camera, remote control car, remote control boat, etc.), it can be controlled by remote control equipment, so that the movable platform can move according to the needs of users and realize specific functions during the movement.
  • the remote control device corresponding to the movable platform can transmit remote control signals to the movable platform through an analog remote control link or a digital remote control link.
  • the analog remote control link has weak anti-interference ability and cannot realize long-distance transmission, but there is no delay and jitter.
  • the digital remote control link has the advantages of high accuracy, long transmission distance, and strong anti-interference ability, but the delay jitter is large, and packet loss occurs in a low signal-to-noise ratio environment. Based on this, how to balance the accuracy and robustness of the remote control signal is a technical problem that needs to be solved urgently.
  • the embodiment of the present invention provides a remote control signal processing method, remote control equipment, and remote control system, which can obtain a first remote control signal through channel coding on the basis of a digital system, and obtain a second remote control signal through signal modulation. , So that the first remote control signal has higher accuracy, and the second remote control signal has higher robustness, so as to take into account the accuracy and robustness of the remote control signal.
  • an embodiment of the present invention provides a remote control signal processing method, including:
  • the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  • an embodiment of the present invention provides a remote control signal processing method, including:
  • the third remote control signal and the fourth remote control signal are associated and stored.
  • an embodiment of the present invention provides a remote control device, including a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  • an embodiment of the present invention provides a movable platform including a memory and a processor
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the third remote control signal and the fourth remote control signal are associated and stored.
  • an embodiment of the present invention provides a remote control system, including a remote control device and a movable platform;
  • the remote control device is used to collect remote control signals based on a remote control signal load, and the remote control signal load includes one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the remote control device is also used to perform channel encoding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal.
  • the first remote control signal includes a check code. 2.
  • the remote control signal does not include the check code;
  • the remote control device is also used to send the first remote control signal and the second remote control signal to a mobile platform through a digital system;
  • the movable platform is used to perform channel decoding on the first remote control signal to obtain a third remote control signal, perform signal demodulation on the second remote control signal to obtain a fourth remote control signal, and combine the third remote control signal And store in association with the fourth remote control signal.
  • Embodiments of the present invention provide a remote control signal processing method, remote control equipment, and remote control system.
  • the remote control signal processing method includes collecting remote control signals based on a remote control signal load.
  • the remote control signal load includes the number of remote control channels, the frequency of the lever, and the lever.
  • the second remote control signal does not include the check code, and the first remote control signal and the second remote control signal are sent to the movable platform through a digital system.
  • the first remote control signal can be acquired through channel coding, and the second remote control signal can be acquired through signal modulation, so that the first remote control signal has higher accuracy and the second remote control signal is more accurate.
  • the signal has high robustness, in order to take into account the accuracy and robustness of the remote control signal.
  • Figure 1 is a schematic structural diagram of a remote control system provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a remote control signal processing method provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a method for a remote control device to perform channel coding on a remote control signal according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of a method for a remote control device to modulate a remote control signal according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the architecture of a remote control system provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the application of a remote control signal processing method provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a remote control device provided by an embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • the remote control device corresponding to the movable platform can transmit remote control signals to the movable platform through an analog remote control link or a digital remote control link.
  • the analog remote control link has weak anti-interference ability and cannot realize long-distance transmission, but there is no delay and jitter.
  • the digital remote control link has the advantages of high accuracy, long transmission distance, and strong anti-interference ability, but the delay jitter is large, and packet loss occurs in a low signal-to-noise ratio environment.
  • the embodiment of the present invention proposes a remote control signal processing method, which can obtain the first remote control signal through channel coding based on the digital system, and modulate the signal.
  • the second remote control signal is acquired in a way, so that the first remote control signal has higher accuracy, and the second remote control signal has higher robustness, so as to take into account the accuracy and robustness of the remote control signal.
  • the remote control system includes a remote control device and an electronic device.
  • a remote control device is a device with a remote control function (such as a remote control, a mobile phone, a tablet computer, a ground control station, etc.), which is used to control the movement of the electronic device and perform related functional operations by sending a remote control signal to the electronic device.
  • the remote control device can control the moving direction of the electronic device (such as moving to the left or right), and can also control the moving speed of the electronic device (such as moving at 20 km/h).
  • the remote control device can control the electronic device to perform image shooting.
  • the movable platform is a device controlled by the remote control device, and is used to move or perform related functional operations according to the remote control signal of the remote control device. For example, the movable platform determines to move forward or backward according to the received remote control signal of the remote control device. For another example, when the remote control signal of the remote control device includes the execution of fixed-point hovering, the movable platform stops moving at the designated fixed point according to the received remote control signal of the remote control device.
  • the movable platform can be an unmanned aerial vehicle, an unmanned vehicle, or a mobile robot. It is understandable that the remote control device and the remotely controlled movable platform can have a one-to-one correspondence, or one remote control device corresponds to multiple remotely controlled movable platforms. By switching control on the remote control device to achieve multiple Remote control of movable platform.
  • the remote control system shown in FIG. 1 is only an example, and the remote control system may also include multiple remote control devices and multiple movable platforms, which is not limited in this embodiment.
  • a digital system is adopted between the remote control device and the movable platform, such as an orthogonal frequency division multiplexing (OFDM) system.
  • the digital system may include a digital remote control link.
  • a digital remote control link includes the following parts: remote control, acquisition, digital-analog/analog-to-digital conversion, encoding, sending, receiving, decoding and output.
  • the remote control signal load of the remote control signal transmitted in the digital remote control link usually includes one or more of the number of remote control channels, the position width of the rod, or the frequency of the rod.
  • the number of remote control channels corresponds to the multiple remote control functions that the remote control device can achieve, including remote sticks, levers, switches, and buttons for different purposes.
  • the rod amount width represents the number of bits corresponding to the amount of control rod transmitted by the remote control device. When the rod amount width is higher (the number of bits is more), the remote control device can achieve a more minute and precise operation. When the rod amount width is lower ( When the number of bits is less), the operation of the remote control device is rougher, and the remote control may not be in place.
  • the lever frequency represents the sending frequency of the remote control lever.
  • the lever frequency of the remote control device is between 50Hz-200Hz, and the remote control device has better controllability.
  • the embodiment of the present invention provides a remote control signal processing method. Please refer to FIG. 2.
  • the method can be applied to the remote control system shown in FIG. 1, and specifically includes the following steps:
  • the remote control device collects a remote control signal based on the remote control signal load.
  • the remote control device may collect remote control signals based on the remote control signal load, where the remote control signal load may include one or more of the number of remote control channels, the frequency of the lever, and the width of the lever.
  • the remote control device can collect the remote control signals generated when the user operates some or all of the 3 joysticks and 5 control buttons in the remote control device .
  • the lever frequency is 50 Hz
  • the remote control device can collect a remote control signal every 0.02 second (s).
  • the remote control device can generate a remote control signal with a bit number of 128 bits.
  • the remote control device performs channel coding on the remote control signal to obtain a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal.
  • the remote control device may perform digital signal processing on the remote control signal in the digital system, for example, perform channel coding on the remote control signal to obtain the first remote control signal, and the first remote control signal includes a check code.
  • the first remote control signal can be verified by the check code. If the verification is successful, the mobile platform determines that the first remote control signal is successfully received; if the verification fails, it can The mobile platform determines that the first remote control signal is not successfully received, that is, the mobile platform cannot process the first remote control signal. It can be seen that the accuracy of the first remote control signal is relatively high.
  • the remote control device can also perform analog signal processing on the remote control signal in the digital system, for example, perform signal modulation on the remote control signal to obtain the second remote control signal. Since the second remote control signal does not include the check code, after the mobile platform receives the second remote control signal, it will not check the second remote control signal, but directly store the second remote control signal, and the transmission delay is small, that is, The robustness of the second remote control signal is relatively high.
  • the remote control device sends the first remote control signal and the second remote control signal to the movable platform through the digital system.
  • the remote control device may send the first remote control signal and the second remote control signal to the movable platform through a digital remote control link.
  • S204 The movable platform performs channel decoding on the first remote control signal to obtain a third remote control signal.
  • the movable platform After receiving the first remote control signal, the movable platform can perform channel decoding on the first remote control signal to obtain a third remote control signal.
  • the movable platform fails to receive the first remote control signal or fails to decode the first remote control signal, then perform signal demodulation on the second remote control signal to obtain a fourth remote control signal, Store the fourth remote control signal.
  • the movable platform if the movable platform does not successfully receive the first remote control signal or fails to decode the first remote control signal, the movable platform cannot use the first remote control signal, and cannot use the first remote control signal to pair
  • the movable platform can be controlled. Since the second remote control signal does not include the check code, after receiving the second remote control signal, the movable platform can demodulate the second remote control signal to obtain a fourth remote control signal, and store the fourth remote control signal, Furthermore, the movable platform is controlled through the fourth remote control signal, which improves the robustness of the second remote control signal.
  • S205 The movable platform performs signal demodulation on the second remote control signal to obtain a fourth remote control signal.
  • the movable platform associates and stores the third remote control signal and the fourth remote control signal.
  • the current business demand can be obtained. If the current business demand is the first business demand, the mobile platform can respond to the third remote control signal To process. If the current service requirement is the second service requirement, the movable platform may process the fourth remote control signal. For example, the movable platform may respond to the third remote control signal or the fourth remote control signal to change the posture information, moving speed, or image shooting of the movable platform.
  • the first service requirement may be long-distance transmission or high-precision transmission.
  • the second service requirement can be low-delay transmission or high-frequency transmission.
  • the movable platform can determine that the current service requirement is the first service requirement. Then, after receiving the first remote control signal, the movable platform can perform channel decoding on the first remote control signal to obtain a third remote control signal, and then process the third remote control signal.
  • the mobile platform can determine that the current business demand is the second business demand. Then, after receiving the second remote control signal, the movable platform can demodulate the second remote control signal to obtain a fourth remote control signal, and then process the fourth remote control signal.
  • the embodiment of the present invention provides a remote control signal processing method.
  • the remote control device collects the remote control signal based on the remote control signal load, performs channel coding on the remote control signal to obtain the first remote control signal, and performs signal modulation on the remote control signal to obtain the second remote control signal.
  • a remote control signal and a second remote control signal are sent to the mobile platform through the digital system.
  • the mobile platform decodes the first remote control signal to obtain the third remote control signal, and demodulates the second remote control signal to obtain the fourth remote control signal.
  • the third remote control signal and the fourth remote control signal are associated and stored, which can take into account the accuracy and robustness of the remote control signal.
  • the embodiment of the present invention provides that a remote control device performs channel coding on a remote control signal to obtain a first remote control signal, and a movable platform performs channel decoding on the first remote control signal to obtain a first remote control signal.
  • the third specific method of remote control signal Please refer to Figure 3, which can specifically include the following steps:
  • the remote control device performs channel coding on the remote control signal to obtain an encoded remote control signal.
  • the remote control device performs bit sorting or bit segmentation on the encoded remote control signal to obtain a processed remote control signal.
  • the remote control device performs constellation modulation on the processed remote control signal to obtain a modulated remote control signal.
  • S304 The remote control device performs time-frequency domain resource multiplexing on the modulated remote control signal to obtain the first remote control signal.
  • the remote control device sends the first remote control signal to the movable platform through the digital system.
  • S306 The movable platform performs time-frequency domain resource demultiplexing on the first remote control signal to obtain a demultiplexed remote control signal.
  • S307 The mobile platform performs constellation demodulation on the demultiplexed remote control signal to obtain the demodulated remote control signal.
  • S308 The mobile platform performs bit rearrangement on the demodulated remote control signal to obtain a bit rearranged remote control signal.
  • S309 The mobile platform performs channel decoding on the remote control signal after bit rearrangement to obtain the third remote control signal.
  • the remote control device collects the remote control signal based on the remote control signal load, it can sequentially perform channel coding, bit sorting/segmentation, constellation modulation, and time-frequency domain resource multiplexing on the remote control signal.
  • the first remote control signal is obtained, and then the remote control device sends the first remote control signal to the movable platform through the front end of the remote control device and radio frequency.
  • the mobile platform receives the first remote control signal through the mobile platform's front end and radio frequency, it can sequentially perform time-frequency domain resource demultiplexing, constellation demodulation, bit rearrangement, and channel decoding on the first remote control signal to obtain the third Remote control signal.
  • the embodiment of the present invention provides a specific method in which a remote control device performs channel encoding on a remote control signal to obtain a first remote control signal, and a movable platform performs channel decoding on the first remote control signal to obtain a third remote control signal. With this method, the accuracy of the first remote control signal can be achieved.
  • the embodiment of the present invention provides a remote control device that modulates a remote control signal to obtain a second remote control signal, and a movable platform performs signal demodulation on the second remote control signal.
  • the specific method of obtaining the fourth remote control signal Please refer to Figure 4, which can specifically include the following steps:
  • the remote control device performs signal modulation on the remote control signal to obtain a modulated remote control signal.
  • the remote control device performs time-frequency domain resource multiplexing on the modulated remote control signal to obtain the second remote control signal.
  • the remote control device sends the second remote control signal to the movable platform through the digital system.
  • S404 The movable platform performs time-frequency domain resource demultiplexing on the second remote control signal to obtain a demultiplexed remote control signal.
  • S405 The movable platform performs signal demodulation on the demultiplexed remote control signal to obtain a fourth remote control signal.
  • the remote control device collects the remote control signal based on the remote control signal load, it can sequentially modulate the remote control signal and reuse the time-frequency domain resources to obtain the second remote control signal, and then control the remote control signal.
  • the device sends the second remote control signal to the movable platform through the front end of the remote control device and the radio frequency.
  • the mobile platform receives the second remote control signal through the front end of the mobile platform and the radio frequency, it can sequentially perform time-frequency domain resource demultiplexing and signal demodulation on the second remote control signal to obtain a fourth remote control signal.
  • signal modulation can include in-phase/quadrature (I/Q) modulation, suppressed carrier double-sideband modulation (DSB), single-sideband modulation (SSB), Vestigial sideband modulation (vestigial sideband, VSB), frequency modulation (Frequency Modulation, FM) or phase modulation (Phase Modulation, PM), etc.
  • I/Q in-phase/quadrature
  • DSB suppressed carrier double-sideband modulation
  • SSB single-sideband modulation
  • VSB Vestigial sideband modulation
  • FM Frequency Modulation
  • PM phase modulation
  • the embodiment of the present invention provides a specific method in which a remote control device performs signal modulation on a remote control signal to obtain a second remote control signal, and a movable platform performs signal demodulation on the second remote control signal to obtain a fourth remote control signal. With this method, the robustness of the second remote control signal can be realized.
  • the embodiment of the present invention provides an application scenario of a remote control signal processing method in the remote control system shown in FIG. 1, as shown in FIG. 6.
  • the remote control device is used as a remote control and the movable platform is a drone as an example for detailed introduction.
  • the remote control collects remote control signals based on the remote control signal load
  • the remote control signal load includes one or more of the number of remote control channels, the lever amount frequency, and the lever amount width
  • the remote control performs Channel coding obtains a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal.
  • the first remote control signal includes a check code
  • the second remote control signal does not include a check code.
  • the first remote control signal and the second remote control signal are sent to the drone through a digital system.
  • the drone performs channel decoding on the first remote control signal to obtain a third remote control signal
  • the drone performs signal demodulation on the second remote control signal to obtain a fourth remote control signal
  • the drone controls the third remote control signal.
  • the signal and the fourth remote control signal are associated and stored. It is understandable that the above application scenario is only one application scenario of the remote control signal processing method shown in FIG. 2 to FIG. 4, and may also include other application scenarios, which is not limited in this embodiment.
  • the embodiment of the present invention provides a remote control device for executing corresponding steps in the method for processing remote control signals.
  • the remote control device includes a memory 701 and a processor 702; the memory 701 is used to store program code; the processor 702 calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  • the processor 702 performs the following operations when performing channel coding on the remote control signal to obtain the first remote control signal:
  • Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the first remote control signal.
  • the processor 702 performs the following operations when performing signal modulation on the remote control signal to obtain the second remote control signal:
  • Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the second remote control signal.
  • the processor 702 performs the following operations when sending the first remote control signal and the second remote control signal to a movable platform through a digital system:
  • the first remote control signal and the second remote control signal are sent to the movable platform through a digital remote control link.
  • the remote control device collects a remote control signal based on the remote control signal load, performs channel coding on the remote control signal to obtain a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal.
  • the signal includes a check code
  • the second remote control signal does not include a check code.
  • the first remote control signal and the second remote control signal are sent to the mobile platform through a digital system, which can take into account the accuracy and robustness of the remote control signal.
  • a digital system which can take into account the accuracy and robustness of the remote control signal.
  • the portable platform includes a memory 801 and a processor 802; the memory 801 is used to store program codes; the processor 802 calls the program codes, and when the program codes are executed, they are used to perform the following operations:
  • the third remote control signal and the fourth remote control signal are associated and stored.
  • processor 802 further performs the following operations:
  • processor 802 associates and stores the third remote control signal and the fourth remote control signal, it further performs the following operations:
  • the fourth remote control signal is processed.
  • the first service requirement is long-distance transmission or high-precision transmission.
  • the second service requirement is low-delay transmission or high-frequency transmission.
  • the processor 802 performs the following operations when performing channel decoding on the first remote control signal to obtain the third remote control signal:
  • Channel decoding is performed on the remote control signal after the bit rearrangement to obtain the third remote control signal.
  • the processor 802 performs the following operations when performing signal demodulation on the second remote control signal to obtain the fourth remote control signal:
  • the processor 802 performs the following operations when receiving the first remote control signal and the second remote control signal sent by the remote control device through the digital system:
  • the first remote control signal and the second remote control signal sent by the remote control device are received through a digital remote control link.
  • the mobile platform receives a first remote control signal and a second remote control signal sent by a remote control device through a digital system, performs channel decoding on the first remote control signal, and obtains a third remote control signal, and controls the second remote control signal.
  • the signal is demodulated to obtain a fourth remote control signal, and the third remote control signal and the fourth remote control signal are associated and stored, which can take into account the accuracy and robustness of the remote control signal.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the implementation in the embodiments corresponding to FIGS. 2, 3, and 4 is The related functions described are not repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card. , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

La présente invention concerne un procédé de traitement d'un signal de commande à distance, un dispositif de commande à distance et un système de commande à distance. Le procédé de traitement d'un signal de commande à distante consiste à : collecter un signal de commande à distance sur la base d'une charge de signal de commande à distance (S201), la charge de signal de commande à distance comprenant un ou plusieurs parmi le nombre de canaux de commande à distance, la fréquence de mesure de charge et la largeur de bit de mesure de charge ; réaliser un codage de canal sur le signal de commande à distance pour obtenir un premier signal de commande à distance, et réaliser une modulation de signal sur le signal de commande à distance pour obtenir un second signal de commande à distance (S202), le premier signal de commande à distance comprenant un code de vérification, et le second signal de commande à distance ne comprenant pas de code de vérification ; et envoyer le premier signal de commande à distance et le second signal de commande à distance par un système numérique à une plate-forme mobile (S203). Selon le procédé de traitement du signal de commande à distance, sur la base du système numérique, le premier signal de commande à distance peut être obtenu au moyen d'un codage de canal, et le second signal de commande à distance peut être obtenu au moyen d'une modulation de signal, de sorte que le premier signal de commande à distance présente une plus grande précision, et le second signal de commande à distance présente une robustesse supérieure, ce qui permet d'assurer la précision et la robustesse du signal de commande à distance.
PCT/CN2019/103419 2019-08-29 2019-08-29 Procédé de traitement de signal de commande à distance, dispositif de commande à distance et système de commande à distance WO2021035639A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980030385.7A CN112106122B (zh) 2019-08-29 2019-08-29 一种遥控信号的处理方法、遥控设备及遥控系统
PCT/CN2019/103419 WO2021035639A1 (fr) 2019-08-29 2019-08-29 Procédé de traitement de signal de commande à distance, dispositif de commande à distance et système de commande à distance

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PCT/CN2019/103419 WO2021035639A1 (fr) 2019-08-29 2019-08-29 Procédé de traitement de signal de commande à distance, dispositif de commande à distance et système de commande à distance

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Citations (6)

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