CN106559152A - The communication dynamic switching method of frequency, self-organizing network nodes and no-manned machine distant control system - Google Patents
The communication dynamic switching method of frequency, self-organizing network nodes and no-manned machine distant control system Download PDFInfo
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Abstract
The present invention relates to the communications field, discloses a kind of dynamic switching method of communication frequency, self-organizing network nodes and no-manned machine distant control system.In the present invention, when self-organizing network nodes detect the handover mechanism for starting communication frequency when communication quality drops to certain thresholding, notify that peer node obtains the measurement time slot for measuring pilot frequency point of fixed interval, and in the measurement time slot, pilot frequency point in alien frequencies point list is measured, clean frequency is captured as the target frequency of frequency handover, carry out the switching of communication frequency.So that MANET is when being interfered, can be with switching at runtime to clean frequency, it is ensured that the communication quality of MANET.And, realize simple, it is not necessary to increase extra hardware spending.
Description
Technical field
The present invention relates to the communications field, the handoff technique of the frequency that communicates more particularly between self-organizing network nodes.
Background technology
The wireless frequency spectrum that self-organized network communication is used is usually ISM ((Industrial Scientific Medical))
The characteristics of shared frequency range or specialized application frequency range, these frequency ranges is easily to be disturbed and narrow, so such as
What more flexibly hides interference, i.e., it is that MANET leads to that the frequency in communicating between self-organizing network nodes selects switching
An important key technology in letter.
Two nodes in such as MANET, unmanned plane and remote control.Current unmanned plane and remote control it
Between communication be that a frequency is set manually when unmanned plane starts, or start-up phase find one it is clean
The little frequency of interference is communicated as the center frequency point of transmitting-receiving.Unmanned plane awing, if subjected to all
Other unmanned planes of side just only reduce communication quality using the interference of the electronic equipment of the frequency, and interference is tight
The transmission that image cannot be carried out of weight, can only simply be flown the transmitting-receiving of control instruction, or even can only be by
Compel to be maked a return voyage.
That is, as the communication between current self-organizing network nodes is according to setting manually in start-up phase
Put or search for and find clean communication frequency to be communicated.But the quality of communication channel is to become in real time
Change, the change over time of initial frequency may be interfered, and as the flight of unmanned plane is sent out
Change on raw room and time, the originally frequency of initial communication may be interfered, so as to ensure
The communication quality of unmanned plane, can only be forced to make a return voyage re-starts initial frequency search setting.
The content of the invention
It is an object of the invention to provide a kind of dynamic switching method of communication frequency, self-organizing network nodes and nothing
Man-machine remote control systems so that when the frequency communicated between self-organizing network nodes is interfered, can be obtained automatically
New available clean frequency is taken, so as to ensure that the high quality communication between self-organizing network nodes.
To solve above-mentioned technical problem, embodiments of the present invention provide a kind of dynamic of communication frequency and cut
Method is changed, is comprised the steps of：
The channel quality of self-organizing network nodes real-time detection present communications frequency；
If the channel quality of present communications frequency is less than the first pre-determined threshold, notify that peer node is obtained
The measurement time slot for measuring pilot frequency point of fixed interval, and in the measurement time slot, to alien frequencies point range
Pilot frequency point in table is measured；
The self-organizing network nodes choose the target frequency of frequency handover according to the measurement result to each pilot frequency point
Point, and the frequency handover that will communicate is to the target frequency.
Embodiments of the present invention additionally provide a kind of self-organizing network nodes, comprising：
Detection module, for the channel quality of real-time detection present communications frequency；
Measurement time slot distribute module, for the channel matter of present communications frequency is detected in the detection module
When amount is less than the first pre-determined threshold, distribute the measurement time slot for measuring pilot frequency point of fixed interval；
Notification module, during for notifying that peer node obtains the measurement of the measurement time slot distribute module distribution
Gap；
Measurement module, for, in the measurement time slot, measuring to the pilot frequency point in alien frequencies point list；
Handover module, for the measurement result according to the measurement module to each pilot frequency point, chooses frequency and cuts
The target frequency for changing, and the frequency handover that will communicate is to the target frequency.
Embodiments of the present invention additionally provide a kind of no-manned machine distant control system, comprising：Unmanned plane and remote control
Device, the unmanned plane are included：
Detection module, for the channel quality of real-time detection present communications frequency；
Measurement time slot distribute module, for the channel matter of present communications frequency is detected in the detection module
When amount is less than the first pre-determined threshold, distribute the measurement time slot for measuring pilot frequency point of fixed interval；
Notification module, for notifying that the remote control obtains the measurement of the measurement time slot distribute module distribution
Time slot；
Measurement module, for, in the measurement time slot, measuring to the pilot frequency point in alien frequencies point list；
Handover module, for the measurement result according to the measurement module to each pilot frequency point, chooses frequency and cuts
The target frequency for changing, and the frequency handover that will communicate is to the target frequency.
Embodiment of the present invention in terms of existing technologies, when self-organizing network nodes are detected under communication quality
Start the handover mechanism of communication frequency when being down to certain thresholding, notify that peer node obtains the use of fixed interval
In the measurement time slot of measurement pilot frequency point, and in the measurement time slot, to the pilot frequency point in alien frequencies point list
Measure, clean frequency is captured as the target frequency of frequency handover, carry out the frequency that communicates
Switching.So that MANET is when being interfered, can be with switching at runtime to clean frequency, it is ensured that
The communication quality of MANET.And, realize simple, it is not necessary to increase extra hardware spending.
Preferably, self-organizing network nodes are unmanned plane, and the peer node is for controlling the distant of the unmanned plane
Control device.Change on room and time can occur due to the flight of unmanned plane, and the frequency of initial communication is very
May can be interfered during flight, and then have influence on communication quality.Therefore by by unmanned plane
Carry out the detection of the communication quality of frequency, and trigger the handover mechanism of communication frequency, can be prevented effectively from because
The problem of communication quality and being forced is maked a return voyage the problem for re-starting that initial frequency search is arranged.
Preferably, it is in notifying the step of peer node is obtained for measuring the measurement time slot of pilot frequency point, described
Identification number and default random number generation function of the self-organizing network nodes according to the self-organizing network nodes, obtain solid
The measurement time slot at fixed interval；The self-organizing network nodes notify the measurement time slot for obtaining to described
Peer node.Calculated according to the ID of self-organizing network nodes at random by the self-organizing network nodes of detection communication quality
Method distributes measurement time slot, reinforms to peer node, realizes simply, and can effectively ensure that communication is double
Side node can get on all four measurement time slot, so as to avoid any one party distribution measurement when
The problem of sending signal in gap.
Preferably, in default duration T, by measurement time slot at least to alien frequencies point list in it is different
Frequency carries out the measurement of a RSSI；Wherein, the T is more than or equal to completing the alien frequencies point list
In duration needed for the measuring at least one times of all pilot frequency points；The RSSI that selection is measured is pre- less than second
The pilot frequency point of gating limit, as the switching frequency of candidate；In the switching frequency of the candidate, select to survey
The switching frequency of the RSSI minimums measured, as the target frequency.By different in one section of duration
The measured value of the RSSI of frequency, obtains target frequency, and the target frequency for further ensuring switching is dry
Net frequency, so as to ensure that the communication quality of MANET.
Preferably, the value of T is set according to the fixed interval of the flight speed and measurement time slot of unmanned plane,
As flight speed is faster, the value of T is relatively less, and the interval duration of measurement time slot is longer, the value of T
It is relatively bigger, it is ensured that a length of one rational assessment duration during the assessment of rssi measurement.
Description of the drawings
Fig. 1 is the dynamic switching method flow chart of the communication frequency according to first embodiment of the invention；
Fig. 2 is the structural representation of the self-organizing network nodes according to second embodiment of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this
Bright each embodiment is explained in detail.However, it will be understood by those skilled in the art that
In each embodiment of the invention, in order that reader more fully understands the application and to propose many technologies thin
Section.But, even if there is no these ins and outs and many variations based on following embodiment and modification,
The each claim of the application technical scheme required for protection can also be realized.
The first embodiment of the present invention is related to a kind of dynamic switching method of communication frequency, in this embodiment party
In formula, when self-organizing network nodes detect the switching for starting communication frequency when communication quality drops to certain thresholding
Mechanism, notifies that peer node obtains the measurement time slot for measuring pilot frequency point of fixed interval, and in measurement
In time slot, the pilot frequency point in alien frequencies point list is measured, to capture clean frequency as frequency
The target frequency of switching, carries out the switching of communication frequency.Present embodiment is by taking unmanned plane and remote control as an example
Illustrate, idiographic flow is as shown in Figure 1.
In a step 101, start shooting as the unmanned plane of self-organizing network nodes, the start process of unmanned plane with it is existing
There is technology identical, will not be described here.
In a step 102, select initial frequency.Such as, unmanned plane arranges a frequency manually, makees
It is the communication frequency between remote control, or, initial communication frequency is set in advance in unmanned plane,
After start, unmanned plane gets the frequency automatically as the communication frequency between remote control.
Then, in step 103, the channel quality of unmanned machine testing present communications frequency.Specifically,
As channel quality can pass through to receive the embodiment of the parameters such as the signal to noise ratio of signal, signal to noise ratio is bigger, illustrates letter
Road quality is better, conversely, signal to noise ratio is less, illustrates that channel quality is poorer.Therefore, in this step,
Unmanned plane can detect the channel quality of present communications frequency according to the signal to noise ratio for currently collecting.
Then, at step 104, whether unmanned plane judges the channel quality of present communications frequency less than the
One pre-determined threshold.
Specifically, threshold T h1 of a signal to noise ratio can be set in unmanned plane in advance, each
It is secondary collect signal to noise ratio after, the signal to noise ratio of collection is compared with threshold T h1, if less than should
Threshold T h1, then illustrate that channel quality is poor, into step 105；If being not less than threshold T h1,
Then illustrate that channel quality can meet communicating requirement, return to step 103, continue detection present communications frequency
Channel quality.Wherein, threshold T h1 can be arranged according to emulation and empirical value.
When implementing, can be sentenced by a channel quality for realizing following logic is set up in unmanned plane
Disconnected module, completes the execution of step 104：
Wherein, signal quality can be using parameters such as signal to noise ratios；Thresholding is arranged according to emulation and empirical value
Th1。
Then, in step 105 with step 106, unmanned plane notifies that peer node (i.e. remote control) is obtained
Take the measurement time slot for measuring pilot frequency point of fixed interval.
Specifically, in step 105, unmanned plane notifies the handover mechanism of remote control open communication frequency.
In step 106, unmanned plane distributes the measurement time slot for measuring pilot frequency point of fixed interval.Tool
Say, unmanned plane self identification number and default random number generation function body, obtain the measurement of fixed interval
Time slot.When implementing, randomized function F_RANDOM (x) can be write, the function is
A random number from 0 to x is generated, using the ID of unmanned plane as randomization seed, that is, is passed through
F_RANDOM (unmanned plane ID) generates the original position of measurement time slot to measure the cycle T modulus.Complete
Into after the distribution of measurement time slot, the measurement time slot of distribution is notified to remote control, it is ensured that the section of communicating pair
Point can get on all four measurement time slot, so as to avoid any one party from sending out in the measurement time slot of distribution
The problem of the number of delivering letters.
Then, in step 107, unmanned plane is measured to pilot frequency point using the measurement time slot of distribution and is commented
Estimate, obtain target frequency.Specifically, RSSI enters to be indicated to the signal intensity of the reception of each pilot frequency point
Row measurement, if in the measurement time slot cannot in alien frequencies point list all pilot frequency points measurement, will
The measurement of remaining pilot frequency point is continued to complete in next measurement time slot.Such as, in alien frequencies point list altogether
There are 32 pilot frequency points, the measurement of 8 pilot frequency points can be completed in a measurement time slot, then will be by 4
Individual measurement time slot completes the measurement of all pilot frequency points in an alien frequencies point list.
In an alien frequencies point list is at least completed after the measurement of all pilot frequency points, by the RSSI for measuring
Minimum pilot frequency point is used as target frequency.As RSSI is less, illustrate that the frequency is cleaner, i.e., at this
Communicated on frequency, will be disturbed by less, therefore, the pilot frequency point conduct for selecting RSSI minimum
The target frequency of frequency handover, can be effectively ensured the communication quality between unmanned plane and remote control.
Then, in step 108, the target frequency of acquisition is notified (i.e. distant to peer node by unmanned plane
Control device).
Then, in step 109, unmanned plane will communicate frequency handover to target frequency with remote control.
After step 109, return to step 103 continues the channel quality of detection present communications frequency.
It is seen that, in the present embodiment, when communication quality declines, cutting for communication frequency will be started
The system of changing planes, according to the measurement result in the measurement time slot of distribution to each pilot frequency point, chooses frequency handover
Target frequency, and will communication frequency handover to target frequency, MANET can be caused when being interfered, can
With switching at runtime to clean frequency, it is ensured that the communication quality of MANET.And, realize simply, no
Need to increase extra hardware spending.
It is additionally, since the change that the flight of unmanned plane can occur on room and time, and the frequency of initial communication
Point is likely to be interfered during flight, and then has influence on communication quality.Therefore by by nothing
The detection of the man-machine communication quality for carrying out frequency, and the handover mechanism of communication frequency is triggered, effectively can keep away
Exempt to be forced the problem for re-starting that initial frequency search is arranged of making a return voyage because of the problem of communication quality.
Second embodiment of the present invention is related to a kind of dynamic switching method of communication frequency.Second embodiment party
Formula has been done on the basis of first embodiment and has further been improved, and mainly thes improvement is that：In the present invention
In second embodiment, the step of RSSI is measured is indicated to the signal intensity of the reception of each pilot frequency point
In, in default duration T, by the measurement time slot at least to alien frequencies point list in each pilot frequency point
Carry out the measurement of a RSSI；Wherein, the T is more than or equal to completing institute in the alien frequencies point list
Have pilot frequency point measures required duration at least one times.The RSSI for measuring minimum pilot frequency point is being made
For target frequency the step of in, obtain the switching frequency of candidate, wherein, the switching frequency of candidate is measurement
The RSSI for arriving, selects to measure less than the pilot frequency point of the second pre-determined threshold in the switching frequency of candidate
The minimum switching frequencies of RSSI, as target frequency.
Specifically, unmanned plane is periodically measured to alien frequencies point list, in regular hour T,
RSSI lists the frequency list that can switch in less than the frequency of certain threshold value, for wherein several recently
Secondary RSSI minimum pilot frequency point is used as switching frequency.Wherein, time T need to be described more than or equal to completing
Duration in alien frequencies point list needed for the measuring at least one times of all pilot frequency points, to guarantee to complete at least
The measurement of all pilot frequency points in alien frequencies point list.The concrete value of time T can flying according to unmanned plane
Scanning frequency degree is set with reference to the interval of measurement time slot, and such as flight speed is faster, and the value of T is relatively less,
The interval duration of measurement time slot is longer, and the value of T is relatively bigger, i.e., the appearance at the interval of measurement time slot
With in the case of, the value of the faster T of flight speed is less；In the case of flight speed identical, measurement
The interval duration of time slot is longer, and the value of T is bigger, to guarantee during the assessment of rssi measurement that a length of one is reasonable
Assessment duration.
Can suitably be adjusted by experiment when actually used.
When implementing, can be by the selection of following logic realization target frequency：
The new frequency that the minimum frequencies of RSSI are this switching is taken in optional frequency list.
Wherein, RSSI thresholdings Th2 is arranged and is arranged thresholding according to emulation and empirical value.
Certainly, in actual applications, it would however also be possible to employ other modes obtain the minimum pilot frequency points of RSSI,
It is not limited to the scheme of the pilot frequency point of involved acquisitions RSSI minimums in present embodiment.
Divide the step of various methods above, be intended merely to describe clear, one when realizing, can be merged into
Step is split to some steps, is decomposed into multiple steps, as long as comprising identical logical relation,
All in the protection domain of this patent；To adding inessential modification in algorithm or in flow process or drawing
Enter inessential design, but do not change the core design of its algorithm and flow process all in the protection model of the patent
In enclosing.
Third embodiment of the invention is related to a kind of self-organizing network nodes, as shown in Fig. 2 including：
Detection module, for the channel quality of real-time detection present communications frequency.
Measurement time slot distribute module, for the channel matter of present communications frequency is detected in the detection module
When amount is less than the first pre-determined threshold, distribute the measurement time slot for measuring pilot frequency point of fixed interval.
Notification module, during for notifying that peer node obtains the measurement of the measurement time slot distribute module distribution
Gap；
Measurement module, for, in the measurement time slot, measuring to the pilot frequency point in alien frequencies point list；
Handover module, for the measurement result according to the measurement module to each pilot frequency point, chooses frequency and cuts
The target frequency for changing, and the frequency handover that will communicate is to the target frequency.
It should be noted that measurement module is in default duration T, it is at least right by the measurement time slot
Each pilot frequency point in alien frequencies point list carries out the measurement of a RSSI；Wherein, the T is more than or equal to
Complete the duration needed for the measuring at least one times of all pilot frequency points in the alien frequencies point list.
The handover module is included：
Candidate's acquisition submodule, for obtaining the switching frequency of candidate, wherein, the switching frequency of the candidate
Point is the pilot frequency point that the RSSI for measuring is less than the second pre-determined threshold；
Submodule is selected, for, selecting the RSSI for measuring minimum in the switching frequency of the candidate
Switching frequency, as the target frequency.
In addition, the self-organizing network nodes in present embodiment are unmanned plane, the value of T is according to the unmanned plane
Flight speed and the measurement time slot fixed interval setting.When implementing, measurement time slot distribution
Module can be obtained between fixing according to the identification number of the self-organizing network nodes and default random number generation function
Every the measurement time slot.
It is noted that each module involved in present embodiment is logic module, in reality
Using in, logical block can be of a physical location, or a physical location
Point, can be realized with the combination with multiple physical locations.Additionally, the innovative part in order to project the present invention,
Not by the unit less close with technical problem relation proposed by the invention is solved in present embodiment
Introduce, but there are no other units during this is not intended that present embodiment.
Four embodiment of the invention is related to a kind of no-manned machine distant control system, comprising unmanned plane and remote control.
Wherein, unmanned plane is the self-organizing network nodes being related in the 3rd embodiment, the notice mould in self-organizing network nodes
Block is additionally operable to the target frequency of acquisition be notified to remote control.
It is seen that, present embodiment is the system embodiment corresponding with first embodiment, this enforcement
Mode can be worked in coordination enforcement with first embodiment.The relevant technical details mentioned in first embodiment
In the present embodiment still effectively, in order to reduce repetition, repeat no more here.Correspondingly, this enforcement
The relevant technical details mentioned in mode are also applicable in first embodiment.
It will be understood by those skilled in the art that the respective embodiments described above are to realize that the present invention's is concrete
Embodiment, and in actual applications, can to which, various changes can be made in the form and details, it is and not inclined
From the spirit and scope of the present invention.
Claims (13)
1. it is a kind of communication frequency dynamic switching method, it is characterised in that comprise the steps of：
The channel quality of self-organizing network nodes real-time detection present communications frequency；
If the channel quality of present communications frequency is less than the first pre-determined threshold, notify that peer node is obtained
The measurement time slot for measuring pilot frequency point of fixed interval, and in the measurement time slot, to alien frequencies point range
Pilot frequency point in table is measured；
The self-organizing network nodes choose the target frequency of frequency handover according to the measurement result to each pilot frequency point
Point, and the frequency handover that will communicate is to the target frequency.
2. it is according to claim 1 communication frequency dynamic switching method, it is characterised in that institute
It is unmanned plane to state self-organizing network nodes, and the peer node is the remote control for controlling the unmanned plane.
3. it is according to claim 1 communication frequency dynamic switching method, it is characterised in that
In the step of notice peer node is obtained for measuring the measurement time slot of pilot frequency point, comprising following sub-step
Suddenly：
Identification number and default generating random number letter of the self-organizing network nodes according to the self-organizing network nodes
Number, obtains the measurement time slot of fixed interval；
The self-organizing network nodes notify the measurement time slot for obtaining to the peer node.
4. it is according to claim 2 communication frequency dynamic switching method, it is characterised in that institute
State the measurement result according to each pilot frequency point, the step of choose the target frequency of frequency handover in, comprising with
Lower sub-step：
RSSI is measured to be indicated to the signal intensity of the reception of each pilot frequency point；
Using the RSSI for measuring minimum pilot frequency point as the target frequency.
5. it is according to claim 4 communication frequency dynamic switching method, it is characterised in that institute
The signal intensity for stating the reception to each pilot frequency point indicates the RSSI the step of measure, comprising：
In default duration T, by the measurement time slot at least to alien frequencies point list in each pilot frequency point
Carry out the measurement of a RSSI；Wherein, the T is more than or equal to completing institute in the alien frequencies point list
Have pilot frequency point measures required duration at least one times；
It is described using the RSSI for measuring minimum pilot frequency point as in the step of the target frequency, comprising：
The switching frequency of candidate is obtained, wherein, the switching frequency of the candidate is that the RSSI for measuring is little
In the pilot frequency point of the second pre-determined threshold；
In the switching frequency of the candidate, the switching frequency for selecting the RSSI for measuring minimum, as
The target frequency.
6. it is according to claim 5 communication frequency dynamic switching method, it is characterised in that institute
The value for stating T is set according to the fixed interval of the flight speed and the measurement time slot of the unmanned plane.
7. it is according to claim 1 communication frequency dynamic switching method, it is characterised in that
The self-organizing network nodes will communicate frequency handover to before the step of the target frequency, also comprising following step
Suddenly：
The self-organizing network nodes notify the target frequency to the peer node.
8. a kind of self-organizing network nodes, it is characterised in that include：
Detection module, for the channel quality of real-time detection present communications frequency；
Measurement time slot distribute module, for the channel matter of present communications frequency is detected in the detection module
When amount is less than the first pre-determined threshold, distribute the measurement time slot for measuring pilot frequency point of fixed interval；
Notification module, during for notifying that peer node obtains the measurement of the measurement time slot distribute module distribution
Gap；
Measurement module, for, in the measurement time slot, measuring to the pilot frequency point in alien frequencies point list；
Handover module, for the measurement result according to the measurement module to each pilot frequency point, chooses frequency and cuts
The target frequency for changing, and the frequency handover that will communicate is to the target frequency.
9. self-organizing network nodes according to claim 8, it is characterised in that the measurement module exists
In default duration T, by the measurement time slot at least to alien frequencies point list in each pilot frequency point carry out one
The measurement of secondary RSSI；Wherein, the T is more than or equal to completing all alien frequencies in the alien frequencies point list
That what is put measures required duration at least one times；
The handover module is included：
Candidate's acquisition submodule, for obtaining the switching frequency of candidate, wherein, the switching frequency of the candidate
Point is the pilot frequency point that the RSSI for measuring is less than the second pre-determined threshold；
Submodule is selected, for, selecting the RSSI for measuring minimum in the switching frequency of the candidate
Switching frequency, as the target frequency.
10. self-organizing network nodes according to claim 9, it is characterised in that the self-organizing network nodes
For unmanned plane；
Fixed interval of the value of the T according to the flight speed and the measurement time slot of the unmanned plane
Setting.
11. self-organizing network nodes according to claim 8, it is characterised in that the measurement time slot point
With module according to the identification number and default random number generation function of the self-organizing network nodes, obtain between fixing
Every the measurement time slot.
12. a kind of no-manned machine distant control systems, comprising unmanned plane and remote control, it is characterised in that the nothing
It is man-machine to include：
Detection module, for the channel quality of real-time detection present communications frequency；
Measurement time slot distribute module, for the channel matter of present communications frequency is detected in the detection module
When amount is less than the first pre-determined threshold, distribute the measurement time slot for measuring pilot frequency point of fixed interval；
Notification module, for notifying that the remote control obtains the measurement of the measurement time slot distribute module distribution
Time slot；
Measurement module, for, in the measurement time slot, measuring to the pilot frequency point in alien frequencies point list；
Handover module, for the measurement result according to the measurement module to each pilot frequency point, chooses frequency and cuts
The target frequency for changing, and the frequency handover that will communicate is to the target frequency.
13. no-manned machine distant control systems according to claim 12, it is characterised in that the notice
Module is additionally operable to the target frequency be notified to the remote control.
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| CN110568856A (en) * | 2019-07-11 | 2019-12-13 | 杭州电子科技大学 | Indoor unmanned aerial vehicle cooperative cluster system |
| CN110536366A (en) * | 2019-08-21 | 2019-12-03 | 青岛汇智天云科技有限公司 | A kind of ground base station having anti-interference function towards beyond-the-horizon communication |
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| WO2021217393A1 (en) * | 2020-04-28 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Channel frequency point processing method and apparatus |
| CN112261617A (en) * | 2020-10-20 | 2021-01-22 | 星河互联网络(深圳)有限公司 | Ship self-adaptive wireless networking communication method based on Beidou positioning |
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