CN108923839A - Data transmission method, apparatus and system, aircraft and control equipment - Google Patents

Data transmission method, apparatus and system, aircraft and control equipment Download PDF

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Publication number
CN108923839A
CN108923839A CN201810631203.9A CN201810631203A CN108923839A CN 108923839 A CN108923839 A CN 108923839A CN 201810631203 A CN201810631203 A CN 201810631203A CN 108923839 A CN108923839 A CN 108923839A
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Prior art keywords
data
frequency
sending
receiving
feedback information
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CN201810631203.9A
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Chinese (zh)
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CN108923839B (en
Inventor
冯银华
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to CN201810631203.9A priority Critical patent/CN108923839B/en
Publication of CN108923839A publication Critical patent/CN108923839A/en
Priority to PCT/CN2019/090937 priority patent/WO2019242551A1/en
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Publication of CN108923839B publication Critical patent/CN108923839B/en
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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
    • 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
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
    • 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
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0006—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission format
    • 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
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0033—Systems modifying transmission characteristics according to link quality, e.g. power backoff arrangements specific to the transmitter
    • 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
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0036—Systems modifying transmission characteristics according to link quality, e.g. power backoff arrangements specific to the receiver
    • 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
    • H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
    • H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The embodiment of the present application provides a kind of data transmission method, apparatus and system, aircraft and control equipment.This method includes：Transmitting terminal sends at least one kind of data to receiving end；Receive the feedback information for feedback data reception state that the receiving end is sent；According to the feedback information, the transmission frequency of the data at least one kind of data is adjusted, and then avoids the problem that sending frequency and receiving data transmission caused by frequency mismatches losing, and then improve the efficiency of transmission and transmission success rate of data.

Description

Data transmission method, device and system, aircraft and control equipment
Technical Field
The present application relates to the field of communications technologies, and in particular, to a data transmission method, apparatus, and system, an aircraft, and a control device.
Background
With the development of flight technology, Unmanned aircraft, or so-called Unmanned Aerial Vehicle (UAV), is becoming more and more widely used. During flight, the drone may perform data transmission with the control device through the communication link, where the data may include, but is not limited to, at least one of: flight data, video data, and picture data.
In the related art, when the unmanned aerial vehicle transmits data with the control device, flight data, video data, and/or picture data are generally transmitted together at a fixed transmission frequency. When the data transmission quality is poor, the transmission of key data in flight data, video data and/or picture data and the like may fail, so that the unmanned aerial vehicle is caused to lose connection.
Disclosure of Invention
The embodiment of the invention provides a data transmission method, a data transmission device, a data transmission system, an aircraft and control equipment.
In a first aspect, an embodiment of the present invention provides a data transmission method, including:
the sending end sends at least 1 kind of data to the receiving end;
receiving feedback information which is sent by the receiving end and used for feeding back the receiving state of the data;
and adjusting the sending frequency of the data in the at least 1 data according to the feedback information.
In a possible implementation manner of the first aspect, the sending, to a receiving end, at least 1 type of data by a sending end includes:
and the sending end sequentially sends at least 1 type of data to the receiving end according to the priority of the data.
In another possible implementation manner of the first aspect, the feedback information includes a data reception frequency and/or a received signal quality; or,
the feedback information comprises a control instruction, and the control instruction is used for controlling the sending end to reduce the sending frequency of the data.
In another possible implementation manner of the first aspect, the adjusting, according to the feedback information, a transmission frequency of data in the at least 1 type of data includes:
when the feedback information comprises a data receiving frequency, judging whether the data receiving frequency is smaller than a first threshold value;
if yes, reducing the sending frequency of the data in the at least 1 data according to the priority order of the data.
In another possible implementation manner of the first aspect, the reducing, according to the priority order of the data, the transmission frequency of the data in the at least 1 type of data includes:
and sequentially reducing the sending frequency of one or more types of data in the at least 1 type of data according to the priority order of the data types.
In another possible implementation manner of the first aspect, the reducing the transmission frequency of the data in the at least 1 type of data according to the priority order of the data types further includes:
and according to the priority sequence of the data types, reducing the sending frequency of the data with the priority lower than the data types.
In a second aspect, an embodiment of the present invention provides a data transmission method, including:
the receiving end receives at least 1 kind of data sent by the sending end;
the receiving end sends feedback information aiming at the at least 1 kind of data, and the feedback information is used for feeding back the data receiving state of the at least 1 kind of data, so that the sending end adjusts the sending frequency of the data in the at least 1 kind of data according to the feedback information.
In one possible implementation manner of the second aspect, the method further includes:
the receiving end counts the data receiving frequency and/or the received signal quality of the at least 1 data;
wherein the feedback information comprises a data reception frequency and/or a received signal quality.
In another possible implementation manner of the second aspect, the sending, by the receiving end, feedback information for the at least 1 data includes:
the receiving end periodically transmits feedback information for the at least 1 data.
In another possible implementation manner of the second aspect, the sending, by the receiving end, feedback information for the at least 1 data includes:
and when the receiving end detects that the receiving frequency of the data is less than a preset threshold value, sending feedback information aiming at the at least 1 data.
In a third aspect, an embodiment of the present invention provides a data transmission apparatus, including:
the sending module is used for sending at least 1 type of data to a receiving end;
the receiving module is used for receiving feedback information which is sent by the receiving end and used for feeding back the receiving state of the data;
and the adjusting module is used for adjusting the sending frequency of the data in the at least 1 kind of data according to the feedback information.
In a possible implementation manner of the third aspect, the sending, to a receiving end, at least 1 type of data, including:
the receiving module is specifically configured to sequentially send at least 1 type of data to the receiving end according to the priority of the data.
In another possible implementation manner of the third aspect, the feedback information includes a data reception frequency and/or a received signal quality; or,
the feedback information comprises a control instruction, and the control instruction is used for controlling the sending end to reduce the sending frequency of the data.
In another possible implementation manner of the third aspect, the adjusting module includes a judging unit and an adjusting unit;
the judging unit is used for judging whether the data receiving frequency is smaller than a first threshold value or not when the feedback information comprises the data receiving frequency;
the adjusting unit is configured to reduce the sending frequency of the data in the at least 1 type of data according to the priority order of the data when the determining unit determines that the data receiving frequency is smaller than the first threshold.
In another possible implementation manner of the third aspect, the reducing, according to the priority order of the data, the transmission frequency of the data in the at least 1 type of data includes:
the adjusting unit is specifically configured to sequentially reduce the sending frequency of one or more types of data in the at least 1 type of data according to the priority order of the data types.
In another possible implementation manner of the third aspect, the feedback information further includes a data type related to the data receiving frequency, and the reducing the sending frequency of the data in the at least 1 data according to a priority order of the data type includes:
the adjusting unit is further configured to, when the feedback information further includes a data type related to the data receiving frequency, decrease a sending frequency of data with a data type priority lower than the data type according to a priority order of the data type.
In a fourth aspect, an embodiment of the present invention provides a data transmission apparatus, including:
the receiving module is used for receiving at least 1 type of data sent by the sending end;
a sending module, configured to send, by a receiving end, feedback information for the at least 1 data, where the feedback information is used to feed back a data receiving state of the at least 1 data, so that the sending end adjusts a sending frequency of data in the at least 1 data according to the feedback information.
In a possible implementation manner of the fourth aspect, the apparatus further includes:
the statistical module is used for counting the data receiving frequency and/or the received signal quality of the at least 1 kind of data;
wherein the feedback information comprises a data reception frequency and/or a received signal quality.
In another possible implementation manner of the fourth aspect, the sending, by the receiving end, feedback information for the at least 1 data includes:
the sending module is further configured to periodically send feedback information for the at least 1 type of data.
In another possible implementation manner of the fourth aspect, the sending, by the receiving end, feedback information for the at least 1 data includes:
the sending module is further configured to send feedback information for the at least 1 type of data when it is detected that the receiving frequency of the data is smaller than a preset threshold.
In a fifth aspect, an embodiment of the present invention provides an aircraft, including:
a memory for storing a computer program;
a processor for executing the computer program to implement the data transmission method according to the first aspect.
In a sixth aspect, an embodiment of the present invention provides a control apparatus, including:
a memory for storing a computer program;
a processor for executing the computer program to implement the data transmission method according to the second aspect.
In a seventh aspect, an embodiment of the present invention provides a data transmission system, including: an aircraft and a control device communicatively coupled.
In an eighth aspect, an embodiment of the present invention provides a computer storage medium, in which a computer program is stored, and the computer program, when executed, implements the data transmission method according to the first aspect and the second aspect.
According to the data transmission method, the device and the system, the aircraft and the control equipment provided by the embodiment of the invention, the sending end sends at least 1 type of data to the receiving end; the receiving end receives at least 1 kind of data sent by the sending end, the receiving end sends feedback information aiming at the at least 1 kind of data, the feedback information is used for feeding back the data receiving state of the at least 1 kind of data, the sending end receives the feedback information which is sent by the receiving end and used for feeding back the data receiving state, and the sending end adjusts the sending frequency of the data in the at least 1 kind of data according to the feedback information. That is, the sending end adaptively adjusts the sending frequency of the data according to the receiving state of the receiving end in this embodiment, so that the problem of data transmission loss caused by mismatching of the sending frequency and the receiving frequency can be avoided, and further, the transmission efficiency and the transmission success rate of the data are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a communication system according to an embodiment of the present application;
fig. 2 is a schematic signaling flow diagram of a data transmission method according to an embodiment of the present application;
fig. 3 is a schematic signaling flow diagram of a data transmission method according to a second embodiment of the present application;
fig. 4 is an implementation manner of a data transmission method according to the second embodiment of the present application;
fig. 5 is a schematic structural diagram of a data transmission apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a data transmission device according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a data transmission apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a data transmission apparatus according to a second embodiment of the present invention;
FIG. 9 is a schematic structural diagram of an aircraft provided by an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a data transmission system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a communication system according to an embodiment of the present application. As shown in fig. 1, the communication system provided in the embodiment of the present application may include a sending end and a receiving end, where the sending end is in communication connection with the receiving end, the sending end may be an aircraft, and correspondingly, the receiving end may be a control device; alternatively, the transmitting end may be a control device, and correspondingly, the receiving end may be an aircraft. The communication system provided by the embodiment of the present application may further include other devices, which is not limited in the embodiment of the present application.
The data transmission method provided by the embodiment of the application is suitable for data transmission between a sending end and a receiving end, for example, data transmission between an aircraft and control equipment.
In the related art, when the unmanned aerial vehicle transmits data with the control device, flight data, video data, and/or picture data are generally transmitted together at a fixed transmission frequency. When data transmission quality becomes poor, data in flight data, video data and/or picture data and the like may fail to be transmitted or phenomena such as transmission delay occur, so that phenomena such as loss of connection or unstable connection occur between the unmanned aerial vehicle and the control equipment.
According to the method provided by the embodiment of the application, a sending end sends at least one type of data to a receiving end, the receiving end sends feedback information to the sending end according to the receiving state of the data, and the sending end adjusts the sending frequency of the data in the at least one type of data according to the feedback information. That is, the present embodiment adjusts the sending frequency of the data in time according to the receiving state, thereby improving the success rate of data transmission.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic signaling flow diagram of a data transmission method according to an embodiment of the present application. The data transmission method of this embodiment is explained with reference to a sending end and a receiving end. As shown in fig. 2, the method of the embodiment of the present application may include:
s101, the sending end sends at least 1 type of data to the receiving end.
S102, the receiving end receives at least 1 data sent by the sending end.
As shown in fig. 1, the present embodiment is described by taking an example in which the transmitting end may be an aircraft and the receiving end is a control device, but of course, the present embodiment is also applicable to a case in which the transmitting end is a control device and the receiving end is an aircraft.
The aircraft involved in the embodiments of the present application may include, but are not limited to: unmanned aerial vehicles or manned aircraft and the like.
The unmanned aerial vehicle that this application embodiment relates to can include but not limited to: the system comprises a power system, a flight control system, an image acquisition device and a communication system; wherein, driving system is used for providing power for unmanned aerial vehicle, and flight control system is used for controlling the flight of driving system in order to control unmanned aerial vehicle, and image acquisition device is used for gathering image data or video data to can pass through communication system with the image data or the video data of gathering and transmit to controlgear in.
The control device involved in the embodiments of the present application may include, but is not limited to: remote controllers, terminal devices (e.g., smart phones, computers, etc.), or ground devices such as ground stations.
As shown in fig. 1, the receiving end of this embodiment is communicatively connected to the transmitting end, and the communication link thereof may include, but is not limited to, any of the following: a WIreless Fidelity (WIFI) link, a Long Term Evolution (LTE) link, a point-to-point network link, and a digital broadcast link. The WIFI link and the digital broadcast link can realize one-to-many communication, and the LTE link and the point-to-point network link can realize one-to-one communication.
The data involved in the embodiments of the present application may include, but is not limited to, at least one of the following: flight data, video data, picture data, data generated while performing other tasks, such as monitoring, surveys, and the like.
The flight data referred to in the embodiments of the present application may also be referred to as flight parameter data, flight status data, or the like. Illustratively, the flight data may be data acquired by various sensors acquired by the aircraft, for example, the flight data may include, but is not limited to: flight position data and/or flight velocity data, and the like.
The video data and/or picture data referred to in the embodiments of the present application may be acquired by an image acquisition device (e.g., a video camera or a still camera, etc.); of course, the method can also be obtained by other methods, and the method is not limited in the embodiment of the application.
In this step, the sending end may send at least one data to the receiving end according to the corresponding preset frequency, where the data may include, but is not limited to, at least one of the following: flight data, video data, and picture data.
The sending end sends at least one kind of data to the receiving end according to the preset frequency. The preset frequencies corresponding to different types of data may be the same or different, and are not limited in this embodiment of the application.
In an example, the preset frequency corresponding to any type of data may be determined according to an acquisition frequency corresponding to an acquisition device (such as a sensor or an image acquisition device) used for acquiring the data in the transmitting end. For example, the collection frequency of the image collection device collecting certain image data is 10 times/s, and the preset frequency of the sending end sending the image data is also 10 times/s.
In another example, the preset frequency corresponding to any type of data may also be determined according to an acquisition frequency at which the sending end acquires the data from the acquisition device, for example, an acquisition frequency at which the image acquisition device acquires certain image data is 10 times/s, and an acquisition frequency at which the sending end acquires the image data from the image acquisition device is 5 times/s, and then the preset frequency at which the sending end sends the image data may also be determined to be 5 times/s.
In another example, the preset frequency corresponding to any type of data may also be pre-agreed by the transmitting end and the receiving end. Optionally, the preset frequency corresponding to any type of data may also be determined in other manners, which is not limited in this embodiment of the application.
S103, the receiving end sends feedback information aiming at the at least 1 kind of data, and the feedback information is used for feeding back the data receiving state of the at least 1 kind of data.
In this step, the receiving end may obtain a receiving state of receiving at least one data when receiving the at least one data sent by the sending end, or after receiving the at least one data sent by the sending end.
The receiving end sends feedback information to the sending end according to the data receiving state of at least 1 kind of data, so that the sending end can know the receiving state of the receiving end according to the feedback information, and further adjusts the sending frequency of the data according to the receiving state of the receiving end.
For example, if the receiving status of receiving a certain data is poor, the receiving end sends feedback information to the sending end, so that the sending end reduces the sending frequency of the data. If the receiving state of the receiving end for receiving certain data is better, the receiving end sends feedback information to the sending end, so that the sending end increases the sending frequency of the data.
For another example, if the receiving end determines that the received signal quality corresponding to a certain data is lower than a certain preset signal quality, the receiving end may determine that the data transmission quality of the communication link is poor at this time, and may send feedback information to the sending end, so that the sending end reduces the sending frequency of the data in at least one data according to the feedback information. If the receiving end determines that the received signal quality corresponding to a certain data is higher than a certain preset signal quality, the receiving end can determine that the data transmission quality of the communication link is stronger at the moment, and can send feedback information to the sending end, so that the sending end can increase the sending frequency of the data in at least one data according to the feedback information.
In this embodiment, the time for the sending end to send the feedback information to the receiving end is not limited, for example, when the receiving end detects that the receiving state of the data changes, for example, the receiving signal quality of the data is detected to be lower than a certain value, or the receiving frequency of the data is detected to be lower than a certain value, the receiving end sends the feedback information for at least 1 type of data to the sending end. Therefore, when the receiving state of the receiving end changes, the feedback information is sent to the sending end in time, so that the sending end can adjust the sending rate of the data in time, and the transmission efficiency of the data is improved.
Or, the receiving end periodically transmits feedback information for the at least 1 data. For example, the receiving end transmits feedback information for at least 1 data to the transmitting end every 5S. Therefore, the receiving end periodically sends the feedback information to the sending end, the working process of the receiving end is simplified, the feedback information can be sent to the sending end in time, and the problem of packet loss in the data transmission process can be avoided.
In a possible implementation manner of this embodiment, the step S103 may further include:
s103a, when the receiving end detects that the data receiving frequency is less than the preset threshold value, the receiving end sends feedback information aiming at the at least 1 data.
Further, in order to prevent data loss during data transmission, when the receiving end detects that the data receiving frequency is less than a preset threshold, the receiving end sends feedback information of at least 1 type of data to the sending end, so that the sending end reduces the sending frequency of at least 1 type of data according to the feedback information, and the success rate of receiving the data is further improved.
And S104, the sending end receives the feedback information which is sent by the receiving end and used for feeding back the data receiving state.
And S105, the sending end adjusts the sending frequency of the data in the at least 1 data according to the feedback information.
In this step, the sending end receives feedback information of at least 1 kind of data sent by the receiving end, and adjusts the sending frequency of the data in the at least one kind of data according to the feedback information.
Optionally, the feedback information of this embodiment may include an identifier of the data a and a receiving frequency b of the data a. In this case, the transmitting end may adjust the transmission frequency of the data a according to the reception frequency b, for example, the transmission frequency may also be adjusted to b. Or, if the sending end determines that the receiving frequency b is less than a certain value, the sending end may determine that the data transmission quality of the communication link is poor at this time, and may directly reduce the sending frequency of the data a, or reduce the sending frequency of the data with a lower priority than the data a, thereby yielding more bandwidth to transmit the data a.
Optionally, the feedback information of this embodiment may further include a received signal quality, so that the transmitting end may adjust the transmitting frequency of the data in the at least 1 data according to the received signal quality. For example, when the received signal quality is low, the transmitting end may reduce the transmission frequency of each data on average. Or, when the quality of the received information is low, the sending end may first reduce the sending frequency of the data with low priority according to the priority order of each data in at least one type of data, thereby ensuring effective transmission of the data with high priority.
Optionally, the feedback information of this embodiment may further include other information, which is not limited in this embodiment.
In the data transmission method provided by the embodiment of the application, a sending end sends at least 1 type of data to a receiving end; the receiving end receives at least 1 kind of data sent by the sending end, the receiving end sends feedback information aiming at the at least 1 kind of data, the feedback information is used for feeding back the data receiving state of the at least 1 kind of data, the sending end receives the feedback information which is sent by the receiving end and used for feeding back the data receiving state, and the sending end adjusts the sending frequency of the data in the at least 1 kind of data according to the feedback information. That is, the sending end adaptively adjusts the sending frequency of the data according to the receiving state of the receiving end in this embodiment, so that the problem of data transmission loss caused by mismatching of the sending frequency and the receiving frequency can be avoided, and further, the transmission efficiency and the transmission success rate of the data are improved.
In a possible implementation manner of this embodiment, the foregoing S101 may include:
s100, the sending end sends at least 1 kind of data to the receiving end in sequence according to the priority of the data.
Specifically, in the embodiment of the present application, the priority of different types of data is different, for example, the priority of flight data is higher than the priority of video data, and the priority of video data is higher than the priority of picture data, so that the data is transmitted and received according to the priority of the data. The flight data is transmitted firstly, then the video data is transmitted, and then the picture data is transmitted, so that the transmission success rate of the data with high priority is ensured.
Fig. 3 is a schematic signaling flow diagram of a data transmission method according to a second embodiment of the present application. On the basis of the foregoing embodiment, the method of this embodiment may further include:
s201, the sending end sends at least 1 kind of data to the receiving end.
S202, the receiving end receives at least 1 kind of data sent by the sending end.
The above S201 and S202 are consistent with the execution process of the above steps, and reference may be made to the description of the above embodiment, which is not described herein again.
S203, the receiving end counts the data receiving frequency and/or the receiving signal quality of the at least 1 data.
Specifically, when the receiving end receives at least one type of data sent by the sending end, the receiving frequency and/or the quality of the received signal of the data are counted when the receiving end receives the data.
The Received Signal quality can be characterized by a Received Signal Strength Indication (RSSI).
S204, the receiving end sends feedback information aiming at the at least 1 data, wherein the feedback information comprises data receiving frequency and/or receiving signal quality.
S205, the sending end receives feedback information which is sent by the receiving end and used for feeding back the receiving state of the data;
s206, the sending end adjusts the sending frequency of the data in the at least 1 data according to the feedback information.
At this time, the receiving end carries the data receiving frequency and/or the receiving signal quality of the at least 1 statistical data in the feedback information and sends the feedback information to the sending end, so that the sending end adjusts the sending frequency of the data in the at least 1 statistical data according to the data receiving frequency and/or the receiving signal quality in the feedback information.
In an embodiment, when the feedback information includes the received signal quality, the method of this embodiment may specifically be:
if the receiving end determines that the received signal quality corresponding to any data is greater than or equal to the preset signal quality, the receiving end can determine that the data transmission quality of the communication link is good at the moment, and can send feedback information to the sending end. The transmitting end increases the frequency of transmitting data, for example, the frequency of transmitting data with high priority, according to the quality of the received signal carried in the feedback information.
If the receiving end determines that the received signal quality corresponding to any data is less than the preset signal quality, the receiving end can determine that the data transmission quality of the communication link is poor at the moment, and can send feedback information to the sending end. The transmitting end reduces the transmitting frequency of the data, for example, the transmitting frequency of the data with low priority, according to the quality of the received signal carried in the feedback information.
In an embodiment, the feedback information of this embodiment includes a data receiving frequency, and in this case, as shown in fig. 4, the step S206 may include:
s206a, when the feedback information includes a data receiving frequency, the sending end determines whether the data receiving frequency is less than a first threshold.
And S206b, if yes, the sending end reduces the sending frequency of the data in the at least 1 data according to the priority order of the data.
In this step, when the feedback information includes a data receiving frequency, the sending end compares the data receiving frequency with a first threshold (the first threshold is a preset data sending frequency), and if the data receiving frequency is lower than the first threshold, the sending end may determine that the data transmission quality of the communication link at this time is poor.
Then, the sending end reduces the sending frequency of the data in at least 1 data according to the transmission priority order of the data (the transmission priority order of the data corresponding to the plurality of data type identifiers is used for indicating, and the order can be from low to high).
Illustratively, it is assumed that the transmission priority order of data is from high to low: flight data, video data, and picture data. The transmission priority of the flight data is higher than that of the video data, and the transmission priority of the video data is higher than that of the picture data.
At this time, if the receiving frequency of the flight data is less than the first threshold corresponding to the flight data, the sending end may determine that the data transmission quality of the communication link is poor at this time, and may reduce the sending frequency of the picture data and/or the sending frequency of the video data according to the sequence from low to high of the data transmission priority, so as to ensure the successful transmission of the flight data as much as possible. Or, according to the order of the data transmission priority from low to high, the sending frequency of each data is reduced in a proportion from large to small, for example, if the reducing ratio of the sending frequency of the flight data is a, the reducing ratio of the sending frequency of the video data is b, and the reducing ratio of the sending frequency of the picture data is c, then c > b > a, thereby ensuring the minimum reduction of the sending frequency of the data with high priority, and further ensuring the successful transmission of the data with high priority.
In a possible implementation manner of this embodiment, the step S206b may specifically include:
and sequentially reducing the sending frequency of one or more types of data in the at least 1 type of data according to the priority order of the data types.
In this step, for any data, if the data receiving frequency corresponding to the data is lower than the first threshold corresponding to the data, the sending end may determine that the data transmission quality of the communication link is poor at this time, and sequentially reduce the sending frequency of one or more data in at least one data according to the data priority order, so as to ensure successful transmission of the data with higher transmission priority as much as possible, and therefore, the technical problem of phenomena such as loss of connection or unstable connection between the unmanned aerial vehicle and the control device caused by the failure of transmission of the key data in the unmanned aerial vehicle in the related art can be solved.
For example, if the receiving frequency of the flight data is less than the first threshold corresponding to the flight data, the sending end may determine that the data transmission quality of the communication link is poor at this time, and may sequentially reduce the sending frequency of the picture data and the sending frequency of the video data according to the data priority order, so as to ensure successful transmission of the flight data as much as possible. Alternatively, the transmission frequency of any one of the picture data and the video data is reduced by the data priority order.
If the receiving frequency of the video data is less than the first threshold corresponding to the video data, the sending end can determine that the data transmission quality of the communication link is poor at the moment, and reduce the sending frequency of the picture data according to the preset data transmission priority from low to high, so that the successful transmission of the flight data and the video data can be ensured as much as possible.
That is, the present embodiment may sequentially reduce the sending frequency of one or more types of data in at least 1 type of data according to the priority order of the data, thereby ensuring successful transmission of the priority data.
In another possible implementation manner of this embodiment, the feedback information further includes a data type related to the data receiving frequency, and the step S206b may specifically include:
and the sending end reduces the sending frequency of the data with the priority lower than the data type according to the priority sequence of the data type.
In this step, when the feedback information of this embodiment further includes a data type related to a data receiving frequency, if the receiving frequency of data corresponding to the data type is lower than a first threshold corresponding to the data type, the sending end may determine that the data transmission quality of the communication link is poor at this time, and sequentially reduce the sending frequency of data having a data type priority lower than the data type according to the data priority order, so as to ensure successful transmission of data (i.e., critical data) corresponding to the data type having a higher transmission priority as much as possible, thereby solving a technical problem in the related art that phenomena such as loss of connection or unstable connection occur between the unmanned aerial vehicle and the control device due to a failure in transmission of the critical data in the unmanned aerial vehicle.
For example, if the receiving frequency of the flight data is lower than the first threshold corresponding to the flight data, the sending end may determine that the data transmission quality of the communication link at this time is poor, and sequentially reduce the sending frequency of the picture data corresponding to the picture data type and the sending frequency of the video data corresponding to the video data type according to a preset data transmission priority from low to high, so as to ensure successful transmission of the flight data corresponding to the flight data type as much as possible.
If the receiving frequency of the video data is lower than the first threshold corresponding to the video data, the sending end can determine that the data transmission quality of the communication link is poor at the moment, and reduce the sending frequency of the picture data corresponding to the picture data type according to the preset data transmission priority from low to high, so that the successful transmission of the flight data corresponding to the flight data type and the video data corresponding to the video data type can be ensured as much as possible.
That is, in this embodiment, according to the priority order of the data, the sending frequency of the data with the priority lower than the data type is sequentially reduced, so as to ensure the successful transmission of the high-priority data.
In the following embodiments of the present application, an implementation manner of sequentially reducing the transmission frequency of data in at least 1 type of data by a transmitting end is described:
the first realizable way: the sending end reduces the collection frequency of the data.
In this implementation, the sending end can reduce the sending frequency of the data by reducing the collection frequency of the data collected by the collection device in the sending end.
For example, for flight data, the transmitting end may reduce the transmitting frequency of the flight data by reducing the acquiring frequency of the flight data acquired by the sensor.
For example, for video data, the sending end may reduce the sending frequency of the video data by reducing the collection frequency of the video data collected by the image collection device.
For example, for picture data, the sending end may reduce the sending frequency of the picture data by reducing the collection frequency of the picture data collected by the image collection device.
The second realizable way: the transmitting end reduces the acquisition frequency of the acquired data.
In this implementation, the sending end may reduce the sending frequency of the data by reducing the obtaining frequency of obtaining the data collected by the collecting device in the sending end.
For example, for flight data, the transmitting end may reduce the frequency of flight data transmission by reducing the frequency of acquiring the flight data collected by sensors in the transmitting end. For example, assuming that the acquisition frequency of the sensor at the transmitting end acquiring the flight data is 10 times/second, the transmitting end may reduce the acquisition frequency to 5 times/second (alternatively, the transmitting end may acquire the latest acquired flight data of the sensor each time), so as to reduce the transmission frequency to 5 times/second.
For example, for video data, the transmitting end may reduce the transmitting frequency of the video data by reducing the acquiring frequency of acquiring the video data acquired by the image acquisition apparatus in the transmitting end. For example, assuming that the acquisition frequency of the image acquisition device at the transmitting end acquiring the video data is 60 frames/second, the transmitting end may reduce the acquisition frequency to 30 frames/second (alternatively, the transmitting end may acquire the video data newly acquired by the image acquisition device each time), so as to reduce the transmission frequency to 30 frames/second.
For example, for picture data, the sending end may reduce the sending frequency of the picture data by reducing the obtaining frequency of obtaining the picture data collected by the image collecting apparatus in the sending end.
Of course, the sending end may also reduce the sending frequency of the data in other realizable manners, for example, after the sending end acquires a plurality of data with the acquisition frequency, the sending end may extract the data from the plurality of data according to the reduced extraction frequency and send the data to realize reducing the sending frequency of the data, at this time, the extraction frequency may be equal to the sending frequency, which is not limited in this embodiment of the application.
In the data transmission method provided by the embodiment of the application, a receiving end receives at least 1 type of data sent by a sending end; the receiving end counts the data receiving frequency and/or the receiving signal quality of the at least 1 data; at this time, the sending end sequentially reduces the sending frequency of one or more types of data in the at least 1 type of data according to the data receiving frequency and/or the quality of the received signal in the feedback information, or reduces the sending frequency of the data with the data type priority lower than that of the data type, thereby ensuring the successful sending of the high-priority data.
Optionally, in a possible implementation manner of this embodiment, the feedback information of this embodiment includes a control instruction, where the control instruction is used to control the sending end to reduce the sending frequency of the data.
Specifically, when the receiving end detects that the receiving frequency of the data is low or the quality of the received signal is weak, the receiving end sends feedback information to the sending end, the feedback information carries a control instruction, and the control instruction is used for instructing the sending end to reduce the sending frequency of the data. Therefore, the sending end reduces the sending frequency of the data according to the control instruction, and further improves the success rate of data transmission.
In the data transmission method provided in another embodiment of the present application, the feedback information includes received signal quality, and if the receiving end determines that the received signal quality corresponding to any data is greater than or equal to the preset received signal quality, the receiving end may determine that the data transmission quality of the communication link is good at this time, and may send the feedback information to the sending end, so that the sending end increases the sending frequency of at least one data according to the feedback information.
In another possible manner of this embodiment, correspondingly, in S206a, when the feedback information includes a data receiving frequency, if the sending end determines that the data receiving frequency is not less than the first threshold, the data transmission method provided in this embodiment may further include:
for any data type, if the receiving frequency of the data corresponding to the data type is greater than or equal to the first threshold of the data corresponding to the data type (that is, the preset sending frequency of the data), the sending end sequentially increases the sending frequency of the data corresponding to at least one data type with a priority higher than the data type according to the priority order of the data.
In the embodiment of the present application, for data corresponding to any data type, if the receiving frequency of the data corresponding to the data type is not less than the sending frequency of the data corresponding to the data type, the sending end may determine that the data transmission quality of the communication link is good at this time, and sequentially increase the sending frequency of the data corresponding to at least one data type with a priority higher than the data type according to the priority order of the data, so as to preferentially ensure successful transmission of the data (i.e., the critical data) corresponding to the data type with a higher transmission priority as much as possible.
For example, if the receiving frequency of the picture data is not less than the first threshold corresponding to the picture data, the sending end may determine that the data transmission quality of the communication link is good at this time, and may preferentially ensure the successful transmission of the flight data and the video data by sequentially increasing the sending frequency of the flight data and/or the sending frequency of the video data according to the priority order of the data.
In the following embodiments of the present application, an implementation manner of sequentially increasing the transmission frequency of data in at least 1 type of data by a transmitting end is described:
the first realizable way: and the sending end increases the acquisition frequency for acquiring the data corresponding to the data type.
In this implementation manner, the sending end can increase the sending frequency of the data corresponding to the data type by increasing the collection frequency of the collection device in the sending end to collect the data corresponding to the data type.
The second realizable way: and the sending end increases the acquisition frequency for acquiring the data corresponding to the acquired data type.
In this implementation manner, the sending end may increase the sending frequency of the data corresponding to the data type by increasing the obtaining frequency of obtaining the data corresponding to the data type collected by the collecting device in the sending end.
It should be noted that, for the specific implementation processes of the two implementation manners, reference may be made to the related content of "the sending end sequentially reduces the sending frequency of the data in the at least 1 data", and details of this are not repeated in this embodiment of the application.
Of course, the sending end may also increase, through other realizable manners, the sending frequency of the data corresponding to any data type with priority higher than the data type, which is not limited in this embodiment of the application.
In the embodiment of the application, the receiving end acquires the quality of the received signal corresponding to at least one piece of data; if the received signal quality corresponding to any data is determined to be greater than or equal to the preset signal quality, the receiving end sends feedback information for increasing the sending frequency of the data in at least 1 type of data to the sending end; further, if the sending end judges that the receiving frequency of the data carried in the feedback information is not lower than the first threshold corresponding to the data, the sending end sequentially increases the sending frequency of the data corresponding to at least one data type with the priority higher than the data type according to the priority sequence of the data, and then the successful transmission of the data with the higher transmission priority is preferentially ensured, so that the transmission success rate of key data in flight data, video data and/or picture data and the like can be improved.
In addition, for any data, if the reception frequency of the data corresponding to the data type is not less than the transmission frequency of the data corresponding to the data type, the transmission end may hold the transmission frequency of the data corresponding to each data type and need not adjust the transmission frequency.
Fig. 5 is a schematic structural diagram of a data transmission device according to an embodiment of the present invention. As shown in fig. 4, the data transmission apparatus 100 of this embodiment is the transmitting end of the above embodiment, for example, an aircraft, and the data transmission apparatus 100 of this embodiment may include:
a sending module 110, configured to send at least 1 type of data to a receiving end;
a receiving module 120, configured to receive feedback information sent by the receiving end and used for feeding back a data receiving state;
an adjusting module 130, configured to adjust a sending frequency of data in the at least 1 data according to the feedback information.
The data transmission apparatus according to the embodiment of the present invention may be configured to implement the technical solutions of the above-described method embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.
In a possible implementation of this embodiment, the receiving module 120 is specifically configured to sequentially send at least 1 type of data to the receiving end according to the priority of the data.
In one possible implementation of this embodiment, the feedback information includes a data receiving frequency and/or a received signal quality; or,
the feedback information comprises a control instruction, and the control instruction is used for controlling the sending end to reduce the sending frequency of the data.
Fig. 6 is a schematic structural diagram of a data transmission device according to a second embodiment of the present invention. On the basis of the above-described embodiment, as shown in fig. 6, the adjusting module 130 of the present embodiment includes a judging unit 131 and an adjusting unit 132;
the judging unit 131 is configured to, when the feedback information includes a data receiving frequency, judge whether the data receiving frequency is smaller than a first threshold;
the adjusting unit 132 is configured to reduce the sending frequency of the data in the at least 1 data according to the priority order of the data when the determining unit determines that the data receiving frequency is smaller than the first threshold.
In a possible implementation manner of this embodiment, the adjusting unit 132 is specifically configured to sequentially decrease the transmission frequency of one or more types of data in the at least 1 type of data according to the priority order of the data types.
In a possible implementation manner of this embodiment, the adjusting unit 133 is further configured to, when the feedback information further includes a data type related to the data receiving frequency, decrease the sending frequency of data with a data type priority lower than the data type according to a priority order of the data types.
The data transmission apparatus according to the embodiment of the present invention may be configured to implement the technical solutions of the above-described method embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.
Fig. 7 is a schematic structural diagram of a data transmission device according to an embodiment of the present invention. As shown in fig. 7, the data transmission apparatus 200 of this embodiment is a receiving end of the above embodiment, for example, a control device, and the data transmission apparatus 200 of this embodiment may include:
a receiving module 210, configured to receive at least 1 type of data sent by a sending end;
a sending module 220, configured to send, by a receiving end, feedback information for the at least 1 data, where the feedback information is used to feed back a data receiving state of the at least 1 data, so that the sending end adjusts a sending frequency of data in the at least 1 data according to the feedback information.
The data transmission apparatus according to the embodiment of the present invention may be configured to implement the technical solutions of the above-described method embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.
Fig. 8 is a schematic structural diagram of a data transmission device according to a second embodiment of the present invention. As shown in fig. 8, the data transmission device 200 of the present embodiment further includes:
a statistic module 230, configured to count a data receiving frequency and/or a received signal quality of the at least 1 data;
wherein the feedback information comprises a data reception frequency and/or a received signal quality.
In a possible implementation manner of this embodiment, the sending module 220 is further configured to send feedback information for the at least 1 data periodically.
In a possible implementation manner of this embodiment, the sending module 220 is further configured to send feedback information for the at least 1 data when it is detected that the receiving frequency of the data is smaller than a preset threshold.
The data transmission apparatus according to the embodiment of the present invention may be configured to implement the technical solutions of the above-described method embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.
Fig. 9 is a schematic structural diagram of an aircraft according to an embodiment of the present invention, and as shown in fig. 7, an aircraft 30 according to this embodiment includes:
a memory 31 for storing a computer program;
the processor 32 is configured to execute the computer program to implement the data transmission method executed by the sending end or the receiving end in the foregoing embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
The Memory 31 may include a volatile Memory (RAM), such as a Static Random Access Memory (SRAM), a double data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), and the like; the memory 31 may also include a non-volatile memory (english: non-volatile memory), such as a flash memory (english: flash memory), a hard disk (english: hard disk drive, abbreviated: HDD) or a solid-state drive (english: SSD); the memory 31 may also comprise a combination of memories of the kind described above.
The memory 31 may be a stand-alone memory, or may be a memory inside a chip (e.g., a processor chip) or a module having a memory function.
The memory 31 may have stored therein computer programs (e.g., applications, functional modules), computer instructions, operating systems, data, databases, etc. The memory may store it in partitions.
The processor 32 may be one or a combination of a Central Processing Unit (CPU), a microprocessor, a Network Processor (NP), a data processor, an image processor, and a task processor.
The processor 32 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The aforementioned PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof. Of course, the processor may also include hardware devices such as a single chip.
In the present embodiment, the processor 32 may be configured in a communication system or a flight control system of the aircraft.
Fig. 10 is a schematic structural diagram of a control device according to an embodiment of the present invention, and as shown in fig. 10, the control device 40 according to the embodiment includes:
a memory 41 for storing a computer program;
the processor 42 is configured to execute the computer program to implement the data transmission method executed by the sending end or the receiving end, which has similar implementation principles and technical effects and is not described herein again.
The Memory 41 may include a volatile Memory (RAM), such as a Static Random Access Memory (SRAM), a double data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), and the like; the memory may also include a non-volatile memory (english: non-volatile memory), such as a flash memory (english: flash memory), a hard disk (english: hard disk drive, abbreviated: HDD) or a solid-state drive (english: SSD); the memory 41 may also comprise a combination of memories of the kind described above.
The memory 41 may be a stand-alone memory, a memory inside a chip (e.g., a processor chip) or a module with a memory function.
The memory 41 may have stored therein computer programs (e.g., applications, functional modules), computer instructions, operating systems, data, databases, and the like. The memory may store it in partitions.
The processor 42 may be one or a combination of a Central Processing Unit (CPU), a microprocessor, a Network Processor (NP), a data processor, an image processor, and a task processor.
The processor 42 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The aforementioned PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof. Of course, the processor may also include hardware devices such as a single chip.
Fig. 11 is a schematic structural diagram of a data transmission system according to an embodiment of the present invention, and as shown in fig. 11, a data transmission system 50 according to the embodiment includes:
the aircraft 30 and the control device 40, and the aircraft 30 and the control device 40, which are communicatively connected, may implement the data transmission method described in the above embodiments, and the implementation principle and the technical effect are similar, and are not described herein again.
Further, when at least a part of the functions of the data transmission method in the embodiment of the present invention are implemented by software, the embodiment of the present invention further provides a computer storage medium, which is used to store computer software instructions for the data transmission, and when the computer storage medium is run on a computer, the computer storage medium enables the computer to execute various possible data transmission methods in the embodiment of the method. The processes or functions described in accordance with the embodiments of the present invention may be generated in whole or in part when the computer-executable instructions are loaded and executed on a computer. The computer instructions may be stored on a computer storage medium or transmitted from one computer storage medium to another via wireless (e.g., cellular, infrared, short-range wireless, microwave, etc.) to another website site, computer, server, or data center. The computer storage media may be any available media that can be accessed by a computer or a data storage device, such as a server, data center, etc., that incorporates one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., SSD), among others.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (16)

1. A method of data transmission, comprising:
the sending end sends at least 1 kind of data to the receiving end;
receiving feedback information which is sent by the receiving end and used for feeding back the receiving state of the data;
and adjusting the sending frequency of the data in the at least 1 data according to the feedback information.
2. The method of claim 1, wherein the transmitting end transmits at least 1 data to a receiving end, and the method comprises:
and the sending end sequentially sends at least 1 type of data to the receiving end according to the priority of the data.
3. The method according to claim 1 or 2,
the feedback information comprises a data receiving frequency and/or a received signal quality; or,
the feedback information comprises a control instruction, and the control instruction is used for controlling the sending end to reduce the sending frequency of the data.
4. The method of claim 3, wherein the adjusting the transmission frequency of the data of the at least 1 data according to the feedback information comprises:
when the feedback information comprises a data receiving frequency, judging whether the data receiving frequency is smaller than a first threshold value;
if yes, reducing the sending frequency of the data in the at least 1 data according to the priority order of the data.
5. The method of claim 4, wherein the reducing the transmission frequency of the data in the at least 1 data according to the priority order of the data comprises:
and sequentially reducing the sending frequency of one or more types of data in the at least 1 type of data according to the priority order of the data types.
6. The method of claim 4, wherein the feedback information further includes a data type related to the data receiving frequency, and wherein the decreasing the transmitting frequency of the data in the at least 1 data according to the priority order of the data type comprises:
and according to the priority sequence of the data types, reducing the sending frequency of the data with the priority lower than the data types.
7. A method of data transmission, comprising:
the receiving end receives at least 1 kind of data sent by the sending end;
the receiving end sends feedback information aiming at the at least 1 kind of data, and the feedback information is used for feeding back the data receiving state of the at least 1 kind of data, so that the sending end adjusts the sending frequency of the data in the at least 1 kind of data according to the feedback information.
8. The method of claim 7, further comprising:
the receiving end counts the data receiving frequency and/or the received signal quality of the at least 1 data;
wherein the feedback information comprises a data reception frequency and/or a received signal quality.
9. The method of claim 8, wherein the receiving end sends feedback information for the at least 1 data, and comprises:
the receiving end periodically transmits feedback information for the at least 1 data.
10. The method according to claim 7 or 8, wherein the receiving end sends feedback information for the at least 1 data, comprising:
and when the receiving end detects that the receiving frequency of the data is less than a preset threshold value, sending feedback information aiming at the at least 1 data.
11. A data transmission apparatus, comprising:
the sending module is used for sending at least 1 type of data to a receiving end;
the receiving module is used for receiving feedback information which is sent by the receiving end and used for feeding back the receiving state of the data;
and the adjusting module is used for adjusting the sending frequency of the data in the at least 1 kind of data according to the feedback information.
12. A data transmission apparatus, comprising:
the receiving module is used for receiving at least 1 type of data sent by the sending end;
a sending module, configured to send, by a receiving end, feedback information for the at least 1 data, where the feedback information is used to feed back a data receiving state of the at least 1 data, so that the sending end adjusts a sending frequency of data in the at least 1 data according to the feedback information.
13. An aircraft, characterized in that it comprises:
a memory for storing a computer program;
a processor for executing the computer program to implement the data transmission method of any one of claims 1-6.
14. A control apparatus, characterized by comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the data transmission method of any one of claims 7-10.
15. A data transmission system, comprising: an aircraft and a control device communicatively coupled.
16. A computer storage medium, characterized in that the storage medium has stored therein a computer program which, when executed, implements a data transmission method according to any one of claims 1-10.
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