CN108923839A - Data transmission method, apparatus and system, aircraft and control equipment - Google Patents
Data transmission method, apparatus and system, aircraft and control equipment Download PDFInfo
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- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- 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
Technical field
This application involves field of communication technology more particularly to a kind of data transmission method, apparatus and system, aircraft and controls
Control equipment.
Background technique
With the development of airmanship, UAV or referred to as unmanned plane (Unmanned Aerial
Vehicle, UAV) it has obtained applying more and more widely.Unmanned plane can pass through communication link and control in flight course
Equipment carries out data transmission, wherein data can include but is not limited at least one of following：Flying quality, video data and figure
Sheet data.
In the related technology, unmanned plane and control equipment is when carrying out data transmission, usually by flying quality, video data and/
Or image data etc. is transmitted together with constant transmissions frequency.When data transmission quality be deteriorated when, flying quality, video data and/
Or the critical data in image data etc. may transmit failure, and lost contact phenomenon occurs so as to cause unmanned plane.
Summary of the invention
The embodiment of the present invention provides a kind of data transmission method, apparatus and system, aircraft and control equipment.
In a first aspect, the embodiment of the present invention provides a kind of data transmission method, including：
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.
In a kind of possible implementation of first aspect, the transmitting terminal sends at least one kind of data, packet to receiving end
It includes：
The transmitting terminal successively sends at least one kind of data according to the priority of data to the receiving end.
In the alternatively possible implementation of first aspect, the feedback information include data receiver frequency and/or
Received signal quality；Alternatively,
The feedback information includes control instruction, and the control instruction, which is used to control the transmitting terminal, reduces the transmission of data
Frequency.
It is described according to the feedback information in the alternatively possible implementation of first aspect, adjust described at least 1
The transmission frequency of data in kind data, including：
When the feedback information includes data receiver frequency, judge the data receiver frequency whether less than the first threshold
Value；
If so, reducing the transmission frequency of the data at least one kind of data according to the priority orders of data.
In the alternatively possible implementation of first aspect, the priority orders according to data, described in reduction
The transmission frequency of data at least one kind of data, including：
According to the priority orders of data type, the number of one or more types at least one kind of data is successively reduced
According to transmission frequency.
In the alternatively possible implementation of first aspect, the feedback information further includes and the data receiver frequency
The relevant data type of rate, the priority orders according to data type reduce the hair of the data at least one kind of data
Frequency is sent, including：
According to the priority orders of data type, hair of the data type priority lower than the data of the data type is reduced
Send frequency.
Second aspect, the embodiment of the present invention provide a kind of data transmission method, including：
Receiving end receives at least one kind of data that transmitting terminal is sent；
The receiving end sends the feedback information for being directed at least one kind of data, and the feedback information is described for feeding back
The data receiving state of at least one kind of data, so that the transmitting terminal adjusts at least one kind of data according to the feedback information
In data transmission frequency.
In a kind of possible implementation of second aspect, the method also includes：
The receiving end counts the data receiver frequency and/or received signal quality of at least one kind of data；
Wherein, the feedback information includes data receiver frequency and/or received signal quality.
In the alternatively possible implementation of second aspect, the receiving end, which is sent, is directed at least one kind of data
Feedback information, including：
The receiving end periodically sends the feedback information at least one kind of data.
In the alternatively possible implementation of second aspect, the receiving end, which is sent, is directed at least one kind of data
Feedback information, including：
When the receiving end detects that the reception frequency of data is less than preset threshold, sends and be directed at least one kind of data
Feedback information.
The third aspect, the embodiment of the present invention provide a kind of data transmission device, including：
Sending module, for sending at least one kind of data to receiving end；
Receiving module, the feedback information for feedback data reception state sent for receiving the receiving end；
Adjustment module, for adjusting the transmission frequency of the data at least one kind of data according to the feedback information.
In a kind of possible implementation of the third aspect, the transmitting terminal sends at least one kind of data, packet to receiving end
It includes：
The receiving module, specifically for successively sending at least one kind of data according to the priority of data to the receiving end.
In the alternatively possible implementation of the third aspect, the feedback information include data receiver frequency and/or
Received signal quality；Alternatively,
The feedback information includes control instruction, and the control instruction, which is used to control the transmitting terminal, reduces the transmission of data
Frequency.
In the alternatively possible implementation of the third aspect, the adjustment module includes judging unit and adjusts single
Member；
The judging unit, for when the feedback information includes data receiver frequency, judging the data receiver frequency
Whether rate is less than first threshold；
The adjusting unit is used for when judging unit judges that the data receiver frequency is less than first threshold, according to number
According to priority orders, reduce the transmission frequency of the data at least one kind of data.
In the alternatively possible implementation of the third aspect, the priority orders according to data, described in reduction
The transmission frequency of data at least one kind of data, including：
The adjusting unit successively reduces at least one kind of data specifically for the priority orders according to data type
In one or more types data transmission frequency.
In the alternatively possible implementation of the third aspect, the feedback information further includes and the data receiver frequency
The relevant data type of rate, the priority orders according to data type reduce the hair of the data at least one kind of data
Frequency is sent, including：
The adjusting unit is also used to when the feedback information further include the data class with the data receiver frequency dependence
When type, according to the priority orders of data type, transmission of the data type priority lower than the data of the data type is reduced
Frequency.
Fourth aspect, the embodiment of the present invention provide a kind of data transmission device, including：
Receiving module, for receiving at least one kind of data of transmitting terminal transmission；
Sending module, the feedback information for being directed at least one kind of data is sent for receiving end, and the feedback information is used for
The data receiving state of at least one kind of data is fed back, so that the transmitting terminal, according to the feedback information, adjusting is described at least
The transmission frequency of data in a kind of data.
In a kind of possible implementation of fourth aspect, described device further includes：
Statistical module, for counting the data receiver frequency and/or received signal quality of at least one kind of data；
Wherein, the feedback information includes data receiver frequency and/or received signal quality.
In the alternatively possible implementation of fourth aspect, the receiving end, which is sent, is directed at least one kind of data
Feedback information, including：
The sending module is also used to periodically send the feedback information at least one kind of data.
In the alternatively possible implementation of fourth aspect, the receiving end, which is sent, is directed at least one kind of data
Feedback information, including：
The sending module is sent for described in extremely when being also used to detect that the reception frequency of data is less than preset threshold
The feedback information of few a kind of data.
5th aspect, the embodiment of the present invention provide a kind of aircraft, including：
Memory, for storing computer program；
Processor, for executing the computer program, to realize data transmission method as described in relation to the first aspect.
6th aspect, the embodiment of the present invention provide a kind of control equipment, including：
Memory, for storing computer program；
Processor, for executing the computer program, to realize the data transmission method as described in second aspect.
7th aspect, the embodiment of the present invention provide a kind of data transmission system, including：The aircraft of communication connection and control
Equipment.
Eighth aspect, the embodiment of the present invention provide a kind of computer storage medium, store computer in the storage medium
Program, the computer program realize the data transmission method as described in first aspect and second aspect when being executed.
Data transmission method provided in an embodiment of the present invention, apparatus and system, aircraft and control equipment, transmitting terminal is to connecing
Receiving end sends at least one kind of data；Receiving end receives at least one kind of data that transmitting terminal is sent, and receiving end is sent for described at least 1
The feedback information of kind data, the feedback information are used to feed back the data receiving state of at least one kind of data, and transmitting terminal receives
The feedback information for feedback data reception state that the receiving end is sent, transmitting terminal adjust institute according to the feedback information
State the transmission frequency of the data at least one kind of data.I.e. the present embodiment transmitting terminal carrys out adaptability according to the reception state of receiving end
Ground adjusts the transmission frequency of data, and what data transmission caused by can mismatching to avoid frequency is sent with reception frequency was lost asks
Topic, and then improve the efficiency of transmission and transmission success rate of data.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 be the invention relates to communication system schematic diagram；
Fig. 2 is the signaling process schematic diagram for the data transmission method that the embodiment of the present application one provides；
Fig. 3 is the signaling process schematic diagram for the data transmission method that the embodiment of the present application two provides；
Fig. 4 is a kind of implementation for the data transmission method that the embodiment of the present application two is related to；
Fig. 5 is the structural schematic diagram for the data transmission device that the embodiment of the present invention one provides；
Fig. 6 is the structural schematic diagram of data transmission device provided by Embodiment 2 of the present invention；
Fig. 7 is the structural schematic diagram for the data transmission device that the embodiment of the present invention one provides；
Fig. 8 is the structural schematic diagram of data transmission device provided by Embodiment 2 of the present invention；
Fig. 9 is the structural schematic diagram of aircraft provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of control equipment provided in an embodiment of the present invention；
Figure 11 is the structural schematic diagram of data transmission system provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 be the invention relates to communication system schematic diagram.As shown in Figure 1, provided by the embodiments of the present application logical
Letter system may include transmitting terminal and receiving end, and transmitting terminal and receiving end communicate to connect, and transmitting terminal can be aircraft, accordingly
, receiving end can be control equipment；Alternatively, transmitting terminal can be control equipment, correspondingly, receiving end can be aircraft.
Communication system provided by the embodiments of the present application can also include other equipment, and the embodiment of the present application is to this and with no restriction.
Data transmission method provided by the embodiments of the present application, suitable for the data transmission between transmitting terminal and receiving end, example
The data for being such as suitable for aircraft and controlling between equipment are transmitted.
In the related technology, unmanned plane and control equipment is when carrying out data transmission, usually by flying quality, video data and/
Or image data etc. is transmitted together with constant transmissions frequency.When data transmission quality be deteriorated when, flying quality, video data and/
Or the data in image data etc. may transmit failure or phenomena such as transmission delay occur, set so as to cause unmanned plane and control
Phenomena such as lost contact or unstable connection occur between standby.
The method provided in the embodiment of the present application, transmitting terminal send at least one data to receiving end, and receiving end is according to number
According to reception state, send feedback information to transmitting terminal, transmitting terminal is adjusted in above-mentioned at least one data according to feedback information
The transmission frequency of data.I.e. the present embodiment adjusts the transmission frequency of data in time, improves the transmission of data according to reception state
Success rate.
How the technical solution of the application and the technical solution of the application are solved with specifically embodiment below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.
Fig. 2 is the signaling process schematic diagram for the data transmission method that the embodiment of the present application one provides.The present embodiment combines hair
Sending end and receiving end are illustrated the data transmission method of the present embodiment.As shown in Fig. 2, the method for the embodiment of the present application can be with
Including：
S101, transmitting terminal send at least one kind of data to receiving end.
S102, receiving end receive at least one kind of data that transmitting terminal is sent.
As shown in Figure 1, the present embodiment can be aircraft with transmitting terminal, receiving end is to be illustrated for controlling equipment,
Certainly, it is the case where control equipment, receiving end are aircraft that the present embodiment, which applies also for transmitting terminal,.
Aircraft involved in the embodiment of the present application can include but is not limited to：Unmanned plane or manned aircraft etc..
Unmanned plane involved in the embodiment of the present application can include but is not limited to：Dynamical system, flight control system and figure
As acquisition device, communication system；Wherein, dynamical system is used to provide power for unmanned plane, and flight control system is dynamic for controlling
To control the flight of unmanned plane, image collecting device can will acquire Force system for acquiring image data or video data
Image data or video data by communications system transmission to control equipment in.
Control equipment involved in the embodiment of the present application can include but is not limited to：Remote controler, terminal device are (such as intelligent
Mobile phone, computer etc.) or the ground installations such as earth station.
As shown in Figure 1, the receiving end of the present embodiment and transmitting terminal communicate to connect, communication link be can include but is not limited to
It is any one of following：Wireless Fidelity (WIreless-Fidelity, WIFI) link, long term evolution (Long Term Evolution,
LTE) link, point to point network link and digital broadcasting link.Wherein, a pair may be implemented in WIFI link and digital broadcasting link
Multi-pass letter, One-to-one communication may be implemented in LTE link and point to point network link.
Data involved in the embodiment of the present application can include but is not limited at least one of following：Flying quality, video counts
According to, image data, execute other tasks when the data that generate, such as monitoring one of investigates data or a variety of.
Flying quality involved in the embodiment of the present application is further referred to as flight parameter data or Flight Condition Data
Deng.Illustratively, flying quality can be each sensor data collected acquired in aircraft, such as flying quality can be with
Including but not limited to：Flight position data and/or flying speed data etc..
Video data involved in the embodiment of the present application and/or image data can be by image collecting devices (for example, camera shooting
Machine or camera etc.) acquired in；Certainly it can also obtain, this is not limited otherwise in the embodiment of the present application
System.
In this step, transmitting terminal can send an at least data to receiving end according to corresponding predeterminated frequency respectively,
In, data can include but is not limited at least one of following：Flying quality, video data and image data.
Transmitting terminal sends at least one data to receiving end according to predeterminated frequency.Wherein, corresponding to different types of data
Predeterminated frequency can be same or different, in the embodiment of the present application to this and with no restriction.
In a kind of example, predeterminated frequency corresponding to any type of data can be according in transmitting terminal for acquiring
Frequency acquisition corresponding to the acquisition device (such as sensor or image collecting device etc.) of the data determines.For example, image is adopted
The frequency acquisition that acquisition means acquire certain image data is 10 times/s, then it is also 10 that transmitting terminal, which sends the predeterminated frequency of the image data,
Secondary/s.
In another example, predeterminated frequency corresponding to any type of data can also be basis, and transmitting terminal is from adopting
The acquisition frequency determination of the data is obtained at acquisition means, for example, the frequency acquisition of image acquisition device image data
For 10 times/s, and transmitting terminal is 5 times/s from the acquisition frequency that image collecting device obtains the image data, then can determine transmission
The predeterminated frequency that end sends the image data is also 5 times/s.
In another example, predeterminated frequency corresponding to any type of data can also be that transmitting terminal is pre- with receiving end
First arrange.Optionally, predeterminated frequency corresponding to any type of data can also be determined otherwise, and the application is real
It applies in example to this and with no restriction.
S103, receiving end send the feedback information for being directed at least one kind of data, and the feedback information is described for feeding back
The data receiving state of at least one kind of data.
In this step, receiving end is when receiving at least one data transmitted by transmitting terminal or receiving end is receiving
To after at least one data transmitted by transmitting terminal, the available reception state for receiving at least one data.
Receiving end sends feedback information to transmitting terminal, so that transmitting terminal root according to the data receiving state of at least one kind of data
The reception state of receiving end can be known according to the feedback information, and then the transmission of data is adjusted according to the reception state of receiving end
Frequency.
For example, receiving end sends feedback information to transmitting terminal if the receiving end reception state that receives a certain data is poor,
So that transmitting terminal reduces the transmission frequency of the data.If the reception state that receiving end receives a certain data is preferable, receiving end to
Transmitting terminal sends feedback information, so that transmitting terminal increases the transmission frequency of the data.
For another example if receiving end determines that the corresponding received signal quality of a certain data is lower than a certain preset signals quality,
Receiving end can determine that the data transmission quality of communication link at this time is poor, can send feedback information to transmitting terminal, so as to
In transmitting terminal according to the transmission frequency of the data in a feedback information reduction at least data.If receiving end determines a certain data
The a certain preset signals quality of corresponding received signal quality height, then receiving end can determine the data transmission of communication link at this time
Quality is stronger, feedback information can be sent to transmitting terminal, in order to which transmitting terminal is according to a feedback information increase at least number
The transmission frequency of data in.
The present embodiment to transmitting terminal to receiving end send feedback information time with no restrictions, for example, receiving end is being detected
Reception state to data changes, such as detects that the received signal quality of data is lower than a certain value, or detect number
According to reception frequency be less than a certain value when, to transmitting terminal send be directed at least one kind of data feedback information.In this way in receiving end
When reception state changes, feedback information is sent to transmitting terminal in time, so that transmitting terminal adjusts the transmission rate of data in time,
And then improve the efficiency of transmission of data.
Alternatively, receiving end periodically sends the feedback information at least one kind of data.For example, receiving end every
5S sends the feedback information for being once directed at least one kind of data to transmitting terminal.It is fed back in this way, receiving end is periodically sent to transmitting terminal
Information simplifies the course of work of receiving end, and can send feedback information to transmitting terminal in time, can be transmitted across to avoid data
Packet loss problem in journey.
In a kind of possible implementation of the present embodiment, above-mentioned S103 can also include：
When S103a, receiving end detect that data receiver frequency is less than preset threshold, sends and be directed at least one kind of data
Feedback information.
Further, in order to prevent in data transmission procedure data packet loss, then receiving end detecting data receiver frequency
When rate is less than preset threshold, receiving end sends the feedback information of at least one kind of data to transmitting terminal, so that transmitting terminal is according to feedback letter
Number the transmission frequency of at least one kind of data is reduced, and then improves the successful receiving rate of data.
S104, transmitting terminal receive the feedback information for feedback data reception state that the receiving end is sent.
S105, transmitting terminal adjust the transmission frequency of the data at least one kind of data according to the feedback information.
In this step, transmitting terminal receives the feedback information of at least one kind of data transmitted by receiving end, and according to feedback information
To adjust the transmission frequency of the data at least one data.
Optionally, may include in the feedback information of the present embodiment data A mark and data A reception frequency b.This
When, transmitting terminal can adjust the transmission frequency of data A according to frequency b is received, such as also be adjusted to b for frequency is sent.Alternatively,
Transmitting terminal judgement receives frequency b and is less than a certain value, then transmitting terminal can determine that the data transmission quality of communication link at this time compares
Difference can directly reduce the transmission frequency of data A, or reduce the transmission frequency of the data lower than the priority of data A, in turn
More broadbands are conceded to transmit data A.
Optionally, the feedback information of the present embodiment can also include received signal quality, in this way, transmitting terminal can be according to connecing
Signal quality is received, to adjust the transmission frequency of the data at least one kind of data.For example, then being sent out when received signal quality is lower
Sending end can averagely lower the transmission frequency of each data.Alternatively, transmitting terminal can be according at least when reception quality message is lower
The priority orders of each data in a kind of data, first the transmission frequency of the low data of reduction priority, and then guarantee high preferential
Effective transmission of grade data.
Optionally, the feedback information of the present embodiment can also include other information, and the present embodiment is without limitation.
Data transmission method provided by the embodiments of the present application, transmitting terminal send at least one kind of data to receiving end；Receive termination
At least one kind of data that sending end is sent are received and dispatched, receiving end sends the feedback information for being directed at least one kind of data, the feedback letter
Cease the data receiving state for feeding back at least one kind of data, transmitting terminal receive that the receiving end sends for feedback coefficient
According to the feedback information of reception state, transmitting terminal adjusts the transmission of the data at least one kind of data according to the feedback information
Frequency.I.e. the present embodiment transmitting terminal can be kept away according to the reception state of receiving end adaptively to adjust the transmission frequency of data
Exempt from send frequency and receive frequency mismatch caused by data transmission lose the problem of, and then improve data efficiency of transmission and
Transmission success rate.
In a kind of possible implementation of the present embodiment, above-mentioned S101 may include：
S100, the transmitting terminal successively send at least one kind of data according to the priority of data to the receiving end.
Specifically, the priority of different types of data is different in the embodiment of the present application, for example, the priority of flying quality
Higher than the priority of video data, the priority of video data is higher than the priority of image data, the in this way biography in above-mentioned data
In defeated and receive process, carried out according to the priority of data.Flying quality, then transmitting video data are first transmitted, rear transmission figure
Sheet data, and then ensure that the transmission success rate of the high data of priority.
Fig. 3 is the signaling process schematic diagram for the data transmission method that the embodiment of the present application two provides.In above-described embodiment
On the basis of, the method for the present embodiment can also include：
S201, transmitting terminal send at least one kind of data to receiving end.
S202, receiving end receive at least one kind of data that transmitting terminal is sent.
Above-mentioned S201 and S202 is consistent with the implementation procedure of above-mentioned steps, referring to the description of above-described embodiment, this reality
Applying example, details are not described herein.
S203, the receiving end count the data receiver frequency and/or received signal quality of at least one kind of data.
Specifically, statistics receives data when each data when receiving end receives at least one data of transmitting terminal transmission
Receive frequency and/or received signal quality.
Wherein, received signal quality can be used for signal strength instruction (Received Signal Strength
Indication, RSSI) it characterizes.
S204, the receiving end send the feedback information for being directed at least one kind of data, wherein the feedback information packet
Include data receiver frequency and/or received signal quality.
S205, transmitting terminal receive the feedback information for feedback data reception state that the receiving end is sent；
S206, transmitting terminal adjust the transmission frequency of the data at least one kind of data according to the feedback information.
At this point, receiving end carries the data receiver frequency of at least one kind of data of statistics and/or received signal quality anti-
In feedforward information, it is sent to transmitting terminal, so that transmitting terminal is according to the data receiver frequency and/or received signal quality in feedback information
To adjust the transmission frequency of the data at least one kind of data.
In one embodiment, when in feedback information including received signal quality, the method for the present embodiment can be specific
It is：
If receiving end determines that the corresponding received signal quality of any data is greater than or equal to preset signals quality, receiving end
It can determine that the data transmission quality of communication link at this time is relatively good, feedback information can be sent to transmitting terminal.Transmitting terminal according to
The received signal quality carried in feedback information increases the transmission frequency of data, for example, increasing the transmission of the high data of priority
Frequency.
If receiving end determines that the corresponding received signal quality of any data is less than preset signals quality, receiving end can be true
The data transmission quality of fixed communication link at this time is poor, can send feedback information to transmitting terminal.Transmitting terminal is according to feedback information
The received signal quality of middle carrying reduces the transmission frequency of data, for example, reducing the transmission frequency of the low data of priority.
In one embodiment, the feedback information of the present embodiment includes data receiver frequency, at this point, above-mentioned as shown in Figure 4
S206 may include：
S206a, when the feedback information includes data receiver frequency, whether transmitting terminal judges the data receiver frequency
Less than first threshold.
S206b, if so, transmitting terminal reduces the hair of the data at least one kind of data according to the priority orders of data
Send frequency.
In this step, when the feedback information includes data receiver frequency, transmitting terminal is by the data receiver frequency and the
One threshold value (first threshold is preset data transmission frequency) is compared, if the data receiver frequency is lower than first threshold,
Then transmitting terminal can determine that the data transmission quality of communication link at this time is poor.
Then, transmitting terminal (is used to indicate multiple data types and identifies corresponding data according to the transmission preferences sequence of data
Transmission priority, sequence can be sequence from low to high), reduce the transmission frequency of the data at least one kind of data.
Illustratively, it is assumed that the transmission preferences sequence of data is followed successively by from high to low：Flying quality, video data and picture
Data.Wherein, the transmission priority of flying quality is higher than the transmission priority of video data, and the transmission priority of video data is high
In the transmission priority of image data.
At this point, if transmitting terminal can be true when the reception frequency of flying quality is less than flying quality corresponding first threshold
The data transmission quality of fixed communication link at this time is poor, can be with by the sequence according to data transport priority from low to high
The transmission frequency of image data and/or the transmission frequency of video data are reduced, so as to guarantee the success of flying quality as far as possible
Transmission.Alternatively, the sequence according to data transport priority from low to high, the transmission of each data is reduced according to ratio from big to small
Frequency, for example, the reduction ratio of the transmission frequency of flying quality is a, the reduction ratio of the transmission frequency of video data is b, figure
The reduction ratio of the transmission frequency of sheet data is c, then c>b>A, and then guarantee what the transmission frequency of the high data of priority reduced
At least, and then the Successful transmissions of the high data of priority be ensure that.
In a kind of possible implementation of the present embodiment, above-mentioned S206b be can specifically include：
According to the priority orders of data type, the number of one or more types at least one kind of data is successively reduced
According to transmission frequency.
In this step, for any data, if the corresponding data receiver frequency of the data is lower than the data corresponding first
Threshold value, then transmitting terminal can determine that the data transmission quality of communication link at this time is poor, by according to data priority sequence,
The transmission frequency of at least one of data data or a variety of data is reduced, successively so as to guarantee transmission preferences as far as possible
Therefore the Successful transmissions of the higher data of grade can solve in the related technology due to the critical data transmission failure in unmanned plane
The technical issues of phenomena such as lost contact or unstable connection occurs between caused unmanned plane and control equipment.
For example, transmitting terminal can determine if the reception frequency of flying quality is less than flying quality corresponding first threshold
The data transmission quality of communication link is poor at this time, by successively reducing the hair of image data according to data priority sequence
The transmission frequency of frequency and video data is sent, so as to guarantee the Successful transmissions of flying quality as far as possible.Alternatively, passing through basis
Data priority sequence, reduces the transmission frequency of any of image data and video data data.
If the reception frequency of video data is less than the corresponding first threshold of video data, transmitting terminal can determine to be led at this time
Believe that the data transmission quality of link is poor, by the sequence according to preset data transport priority from low to high, reduces figure
The transmission frequency of sheet data, so as to guarantee the Successful transmissions of flying quality and video data as far as possible.
I.e. the present embodiment can successively can reduce a kind of or more at least one kind of data according to the priority orders of data
The transmission frequency of the data of seed type, and then ensure that the Successful transmissions of priority data.
In the alternatively possible implementation of the present embodiment, the feedback information further includes and the data receiver frequency
The relevant data type of rate, above-mentioned S206b can specifically include：
Transmitting terminal reduces the number that data type priority is lower than the data type according to the priority orders of data type
According to transmission frequency.
In this step, when in the feedback information of the present embodiment further including the data type of data receiver frequency dependence, if
The reception frequency of the corresponding data of the data type is lower than the corresponding first threshold of the data type, then transmitting terminal can determine this
When communication link data transmission quality it is poor, according to data priority sequence, successively reduce data type priority and be lower than
The transmission frequency of the data of the data type, so as to guarantee corresponding to the higher data type of transmission priority as far as possible
The Successful transmissions of data (i.e. critical data) therefore can solve in the related technology due to the critical data transmission in unmanned plane
The technical issues of phenomena such as lost contact or unstable connection occur between unmanned plane caused by failure and control equipment.
For example, transmitting terminal can determine if the reception frequency of flying quality is lower than flying quality corresponding first threshold
The data transmission quality of communication link is poor at this time, by the sequence according to preset data transport priority from low to high,
Successively reduce the transmission frequency and the corresponding video data of video data type of the corresponding image data of picture data type
Frequency is sent, so as to guarantee the Successful transmissions of the corresponding flying quality of flying quality type as far as possible.
If the reception frequency of video data is lower than the corresponding first threshold of video data, transmitting terminal can determine to be led at this time
Believe that the data transmission quality of link is poor, by the sequence according to preset data transport priority from low to high, reduces figure
The transmission frequency of the corresponding image data of sheet data type, so as to guarantee the corresponding flying quality of flying quality type as far as possible
The Successful transmissions of video data corresponding with video data type.
That is the present embodiment successively reduces data type priority lower than data type according to the priority orders of data
The transmission frequency of data, and then guarantee the Successful transmissions of high prioritized data.
In the following embodiments of the application, to " the transmission frequency that transmitting terminal successively reduces the data at least one kind of data "
Achievable mode is introduced：
The first can realize mode：Transmitting terminal reduces the frequency acquisition for acquiring the data.
In this implementation, transmitting terminal can acquire the acquisition frequency of the data by reducing the acquisition device in transmitting terminal
Rate, to reduce the transmission frequency of the data.
Illustratively, for flying quality, transmitting terminal can acquire the acquisition frequency of the flying quality by reducing sensor
The mode of rate, to reduce the transmission frequency of the flying quality.
Illustratively, for video data, transmitting terminal can be by reducing the image acquisition device video data
The mode of frequency acquisition, to reduce the transmission frequency of the video data.
Illustratively, for image data, transmitting terminal can be by reducing the image acquisition device image data
The mode of frequency acquisition, to reduce the transmission frequency of the image data.
Second of achievable mode：Transmitting terminal reduces the acquisition frequency for obtaining the data collected.
In this implementation, transmitting terminal can be obtained by reducing by the data collected of the acquisition device in transmitting terminal
Acquisition frequency, to reduce the transmission frequency of the data.
Illustratively, for flying quality, transmitting terminal can be acquired by reducing to obtain by the sensor in transmitting terminal
The flying quality acquisition frequency, come reduce the flying quality send frequency.For example, it is assumed that the sensor acquisition of transmitting terminal should
The frequency acquisition of flying quality is 10 times/second, and transmitting terminal can be (optional by way of it will acquire frequency and be reduced to 5 times/second
Ground, transmitting terminal most freshly harvested flying quality of available sensor every time), come realize will send frequency be reduced to 5 times/
Second.
Illustratively, for video data, transmitting terminal can be obtained by reducing by the image collecting device in transmitting terminal
The acquisition frequency of the video data collected, to reduce the transmission frequency of the video data.For example, it is assumed that the image of transmitting terminal
Acquisition device acquire the video data frequency acquisition be 60 frames/second, transmitting terminal can by will acquire frequency be reduced to 30 frames/
Second mode (optionally, transmitting terminal every time the most freshly harvested video data of available image collecting device), come realize by
It sends frequency and is reduced to 30 frames/second.
Illustratively, for image data, transmitting terminal can be obtained by reducing by the image collecting device in transmitting terminal
The acquisition frequency of the image data collected, to reduce the transmission frequency of the image data.
Certainly, transmitting terminal can also reduce the transmission frequency of data by other achievable modes, for example, transmitting terminal with
After obtaining the multiple data of frequency acquisition, according to reduced extraction frequency abstraction data and it can be sent from multiple data,
To realize the transmission frequency for reducing data, at this point, transmission frequency can be equal to by extracting frequency, in the embodiment of the present application simultaneously to this
With no restriction.
Data transmission method provided by the embodiments of the present application, receiving end receive at least one kind of data that transmitting terminal is sent；It receives
End counts the data receiver frequency and/or received signal quality of at least one kind of data；At this point, transmitting terminal is according to feedback information
In data receiver frequency and/or received signal quality, successively reduce the number of one or more types at least one kind of data
According to transmission frequency, alternatively, reduce data type priority lower than the data type data transmission frequency, and then guarantee
Being successfully transmitted of high-priority data.
Optionally, in a kind of possible implementation of the present embodiment, the embodiment of the present invention feedback information includes control
System instruction, the control instruction, which is used to control the transmitting terminal, reduces the transmission frequency of data.
Specifically, when receiving end detects that the reception frequency of data is lower or when received signal quality is weaker, receiving end to
Transmitting terminal sends feedback information, carries control instruction in the feedback information, which, which is used to indicate transmitting terminal, reduces data
Transmission frequency.In this way, transmitting terminal reduces the transmission frequency of data according to the control instruction, and then improve the transmission of data
Success rate.
It include received signal quality in feedback information, if connecing in the data transmission method that another embodiment of the application provides
Receiving end determines that the corresponding received signal quality of any data is greater than or equal to default received signal quality, then receiving end can determine
The data transmission quality of communication link is relatively good at this time, feedback information can be sent to transmitting terminal, in order to which transmitting terminal is according to this
The transmission frequency of at least one data of feedback information increase.
It is corresponding in the alternatively possible mode of the present embodiment, in S206a, when the feedback information includes data
When receiving frequency, if transmitting terminal judges data receiver frequency not less than first threshold, transmission side data provided in this embodiment
Method can also include：
For any data type, if the reception frequency of the corresponding data of the data type is greater than or equal to the data type
The first threshold (i.e. the preset transmission frequency of the data) of corresponding data, then transmitting terminal is according to the priority orders of data, according to
The secondary transmission frequency for increasing priority and being higher than the corresponding data of at least one data type of the data type.
In the embodiment of the present application, for the corresponding data of any data type, if the corresponding data of the data type connect
The transmission frequency that frequency is not less than the corresponding data of the data type is received, then transmitting terminal can determine the data of communication link at this time
Transmission quality is relatively good, by the priority orders according to data, successively increases priority is higher than the data type at least one
The transmission frequency of the corresponding data of a data type, so as to preferentially guarantee the higher data type institute of transmission priority as far as possible
The Successful transmissions of corresponding data (i.e. critical data).
For example, transmitting terminal can be true if the reception frequency of image data is not less than image data corresponding first threshold
The data transmission quality of fixed communication link at this time is relatively good, by the priority orders according to data, successively increases flying quality
Transmission frequency and/or video data transmission frequency, so as to preferentially guarantee as far as possible flying quality and video data at
Function transmission.
In the following embodiments of the application, to " the transmission frequency that transmitting terminal successively increases the data at least one kind of data "
Achievable mode is introduced：
The first can realize mode：Transmitting terminal increases the frequency acquisition for acquiring the corresponding data of the data type.
In this implementation, it is corresponding that transmitting terminal can acquire the data type by the acquisition device in increase transmitting terminal
The frequency acquisition of data, to increase the transmission frequency of the corresponding data of the data type.
Second of achievable mode：Transmitting terminal increases the acquisition frequency for obtaining the corresponding data of the data type collected
Rate.
In this implementation, transmitting terminal can be obtained by increasing by the data collected of the acquisition device in transmitting terminal
The acquisition frequency of the corresponding data of type, to increase the transmission frequency of the corresponding data of the data type.
It should be noted that the specific implementation process of above two achievable mode can refer to it is above-mentioned about " transmitting terminal
Successively reduce the transmission frequency of the data at least one kind of data " related content, no longer gone to live in the household of one's in-laws on getting married one by one in the embodiment of the present application to this
It states.
Certainly, transmitting terminal can also increase any number that priority is higher than the data type by other achievable modes
According to the transmission frequency of the corresponding data of type, in the embodiment of the present application to this and with no restriction.
In the embodiment of the present application, the corresponding received signal quality of at least one data is obtained by receiving end；If really
The corresponding received signal quality of any data is determined more than or equal to preset signals quality, then receiving end is increased to transmitting terminal transmission
The feedback information of the transmission frequency of data in few a kind of data；Further, if transmitting terminal judges the number carried in feedback information
According to reception frequency be not less than the corresponding first threshold of the data, then transmitting terminal is successively increased according to the priority orders of data
Priority is higher than the transmission frequency of the corresponding data of at least one data type of the data type, and then preferentially guarantees to transmit excellent
The Successful transmissions of the first higher data of grade, so as to improve the key in flying quality, video data and/or image data etc.
The transmission success rate of data.
It should be noted that any data is directed to, if the reception frequency of the corresponding data of the data type is not less than the number
According to the transmission frequency of the corresponding data of type, then transmitting terminal can also keep the transmission frequency of the corresponding data of each data type,
It does not need to adjust its transmission frequency.
Fig. 5 is the structural schematic diagram for the data transmission device that the embodiment of the present invention one provides.As shown in figure 4, the present embodiment
Data transmission device 100 be above-described embodiment transmitting terminal, for example, aircraft, the data transmission device 100 of the present embodiment
May include：
Sending module 110, for sending at least one kind of data to receiving end；
Receiving module 120, the feedback information for feedback data reception state sent for receiving the receiving end；
Adjustment module 130, for adjusting the transmission frequency of the data at least one kind of data according to the feedback information
Rate.
The data transmission device of the embodiment of the present invention can be used for executing the technical solution of above-mentioned shown embodiment of the method,
That the realization principle and technical effect are similar is similar for it, and details are not described herein again.
The possible realization of one kind of the present embodiment among the above, above-mentioned receiving module 120 is specifically used for the receiving end
At least one kind of data are successively sent according to the priority of data.
The present embodiment one kind it is possible realization among the above, the feedback information includes data receiver frequency and/or connects
Receive signal quality；Alternatively,
The feedback information includes control instruction, and the control instruction, which is used to control the transmitting terminal, reduces the transmission of data
Frequency.
Fig. 6 is the structural schematic diagram of data transmission device provided by Embodiment 2 of the present invention.On the basis of above-described embodiment
On, as shown in fig. 6, the adjustment module 130 of the present embodiment includes judging unit 131 and adjusting unit 132；
The judging unit 131, for judging the data receiver when the feedback information includes data receiver frequency
Whether frequency is less than first threshold；
The adjusting unit 132 is used for when judging unit judges that the data receiver frequency is less than first threshold, according to
The priority orders of data reduce the transmission frequency of the data at least one kind of data.
In a kind of possible implementation of the present embodiment, the adjusting unit 132 is specifically used for according to data type
Priority orders, successively reduce the transmission frequency of the data of one or more types at least one kind of data.
In a kind of possible implementation of the present embodiment, the adjusting unit 133 is also used to when the feedback information
When further including the data type with the data receiver frequency dependence, according to the priority orders of data type, data class is reduced
Transmission frequency of the type priority lower than the data of the data type.
The data transmission device of the embodiment of the present invention can be used for executing the technical solution of above-mentioned shown embodiment of the method,
That the realization principle and technical effect are similar is similar for it, and details are not described herein again.
Fig. 7 is the structural schematic diagram for the data transmission device that the embodiment of the present invention one provides.As shown in fig. 7, the present embodiment
Data transmission device 200 be above-described embodiment receiving end, for example, control equipment, the data transmission device of the present embodiment
200 may include：
Receiving module 210, for receiving at least one kind of data of transmitting terminal transmission；
Sending module 220 sends the feedback information for being directed at least one kind of data, the feedback information for receiving end
For feeding back the data receiving state of at least one kind of data, so that the transmitting terminal is according to the feedback information, described in adjusting
The transmission frequency of data at least one kind of data.
The data transmission device of the embodiment of the present invention can be used for executing the technical solution of above-mentioned shown embodiment of the method,
That the realization principle and technical effect are similar is similar for it, and details are not described herein again.
Fig. 8 is the structural schematic diagram of data transmission device provided by Embodiment 2 of the present invention.As shown in figure 8, the present embodiment
Data transmission device 200 further include：
Statistical module 230, for counting the data receiver frequency and/or received signal quality of at least one kind of data；
Wherein, the feedback information includes data receiver frequency and/or received signal quality.
In a kind of possible implementation of the present embodiment, above-mentioned sending module 220 is also used to periodically send needle
To the feedback information of at least one kind of data.
In a kind of possible implementation of the present embodiment, the sending module 220 is also used to detect connecing for data
When receiving frequency less than preset threshold, the feedback information for being directed at least one kind of data is sent.
The data transmission device of the embodiment of the present invention can be used for executing the technical solution of above-mentioned shown embodiment of the method,
That the realization principle and technical effect are similar is similar for it, and details are not described herein again.
Fig. 9 is the structural schematic diagram of aircraft provided in an embodiment of the present invention, as shown in fig. 7, the aircraft of the present embodiment
30 include：
Memory 31, for storing computer program；
Processor 32, for executing the computer program, to realize, transmitting terminal or receiving end are executed in above-described embodiment
Data transmission method, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Wherein, memory 31 may include volatile memory (English：Volatile memory), such as arbitrary access
Memory (English：Random-access memory, abbreviation：RAM), such as static random access memory (English：static
Random-access memory, abbreviation：SRAM), double data rate Synchronous Dynamic Random Access Memory (English：Double
Data Rate Synchronous Dynamic Random Access Memory, abbreviation：DDR SDRAM) etc.；Memory 31
It also may include nonvolatile memory (English：Non-volatile memory), such as flash memory (English：flash
Memory), hard disk (English：Hard disk drive, abbreviation：HDD) or solid state hard disk is (English：Solid-state drive,
Abbreviation：SSD)；Memory 31 can also include the combination of the memory of mentioned kind.
Memory 31 can be independent memory, be also possible to the internal memory of chip (such as processor chips) or certain
One module with store function.
Computer program (such as application program, functional module), computer instruction, operation system are can store in memory 31
System, data, database etc..Memory can carry out partitioned storage to it.
Wherein, processor 32 can be central processing unit (English：Central processing unit, abbreviation：CPU),
Microprocessor, network processing unit (English：Network processor, abbreviation：NP), data processor, image processor are appointed
One of application specific processors such as business processor or combination.
Wherein, processor 32 can further include hardware chip.Above-mentioned hardware chip can be specific integrated circuit
(English：Application-specific integrated circuit, abbreviation：ASIC), programmable logic device (English：
Programmable logic device, abbreviation：PLD) or combinations thereof.Above-mentioned PLD can be Complex Programmable Logic Devices
(English：Complex programmable logic device, abbreviation：CPLD), field programmable gate array (English：
Field-programmable gate array, abbreviation：FPGA), Universal Array Logic (English：generic array
Logic, abbreviation：GAL) or any combination thereof.Certainly, processor can also including single-chip microcontroller etc. hardware devices.
In the embodiment of the present application, processor 32 be can be only fitted in the communication system or flight control system of aircraft.
Figure 10 is the structural schematic diagram of control equipment provided in an embodiment of the present invention, as shown in Figure 10, the control of the present embodiment
Control equipment 40 includes：
Memory 41, for storing computer program；
Processor 42 is passed for executing the computer program with the data for realizing that above-mentioned transmitting terminal or receiving end execute
Transmission method, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Wherein, memory 41 may include volatile memory (English：Volatile memory), such as arbitrary access
Memory (English：Random-access memory, abbreviation：RAM), such as static random access memory (English：static
Random-access memory, abbreviation：SRAM), double data rate Synchronous Dynamic Random Access Memory (English：Double
Data Rate Synchronous Dynamic Random Access Memory, abbreviation：DDR SDRAM) etc.；Memory
It may include nonvolatile memory (English：Non-volatile memory), such as flash memory (English：flash
Memory), hard disk (English：Hard disk drive, abbreviation：HDD) or solid state hard disk is (English：Solid-state drive,
Abbreviation：SSD)；Memory 41 can also include the combination of the memory of mentioned kind.
Memory 41 can be independent memory, be also possible to the internal memory of chip (such as processor chips) or certain
One module with store function.
Computer program (such as application program, functional module), computer instruction, operation system are can store in memory 41
System, data, database etc..Memory can carry out partitioned storage to it.
Wherein, processor 42 can be central processing unit (English：Central processing unit, abbreviation：CPU),
Microprocessor, network processing unit (English：Network processor, abbreviation：NP), data processor, image processor are appointed
One of application specific processors such as business processor or combination.
Wherein, processor 42 can further include hardware chip.Above-mentioned hardware chip can be specific integrated circuit
(English：Application-specific integrated circuit, abbreviation：ASIC), programmable logic device (English：
Programmable logic device, abbreviation：PLD) or combinations thereof.Above-mentioned PLD can be Complex Programmable Logic Devices
(English：Complex programmable logic device, abbreviation：CPLD), field programmable gate array (English：
Field-programmable gate array, abbreviation：FPGA), Universal Array Logic (English：generic array
Logic, abbreviation：GAL) or any combination thereof.Certainly, processor can also including single-chip microcontroller etc. hardware devices.
Figure 11 is the structural schematic diagram of data transmission system provided in an embodiment of the present invention, as shown in figure 11, the present embodiment
Data transmission system 50 include：
Above-described embodiment may be implemented in the aircraft 30 and control equipment 40 of communication connection, aircraft 30 and control equipment 40
The data transmission method, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Further, when at least part function of data transmission method in the embodiment of the present invention passes through software realization,
The embodiment of the present invention also provides a kind of computer storage medium, and computer storage medium is by being stored as based on above-mentioned data transmission
Calculation machine software instruction allows computer to execute various possibility in above method embodiment when run on a computer
Data transmission method.When loading on computers and executing the computer executed instructions, it can entirely or partly generate and press
According to process or function described in the embodiment of the present invention.The computer instruction can store in computer storage medium, or
It is transmitted from a computer storage medium to another computer storage medium, the transmission can pass through wireless (such as honeycomb
Communication, infrared, short-distance wireless, microwave etc.) mode to another web-site, computer, server or data center carry out
Transmission.The computer storage medium can be any usable medium or include one or more that computer can access
The data storage devices such as usable medium integrated server, data center.The usable medium can be magnetic medium, (for example,
Floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as SSD) etc..
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (16)
1. a kind of data transmission method, which is characterized in that including：
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.
2. the method according to claim 1, wherein the transmitting terminal sends at least one kind of data, packet to receiving end
It includes：
The transmitting terminal successively sends at least one kind of data according to the priority of data to the receiving end.
3. method according to claim 1 or 2, which is characterized in that
The feedback information includes data receiver frequency and/or received signal quality；Alternatively,
The feedback information includes control instruction, and the control instruction, which is used to control the transmitting terminal, reduces the transmission frequency of data
Rate.
4. according to the method described in claim 3, adjusting is described at least one kind of it is characterized in that, described according to the feedback information
The transmission frequency of data in data, including：
When the feedback information includes data receiver frequency, judge whether the data receiver frequency is less than first threshold；
If so, reducing the transmission frequency of the data at least one kind of data according to the priority orders of data.
5. according to the method described in claim 4, it is characterized in that, the priority orders according to data, reduction are described extremely
The transmission frequency of data in few a kind of data, including：
According to the priority orders of data type, the data of one or more types at least one kind of data are successively reduced
Send frequency.
6. according to the method described in claim 4, it is characterized in that, the feedback information further includes and the data receiver frequency
Relevant data type, the priority orders according to data type reduce the transmission of the data at least one kind of data
Frequency, including：
According to the priority orders of data type, transmission frequency of the data type priority lower than the data of the data type is reduced
Rate.
7. a kind of data transmission method, which is characterized in that including：
Receiving end receives at least one kind of data that transmitting terminal is sent；
The receiving end sends the feedback information for being directed at least one kind of data, and the feedback information is for feeding back described at least 1
The data receiving state of kind data, so that the transmitting terminal adjusts the number at least one kind of data according to the feedback information
According to transmission frequency.
8. the method according to the description of claim 7 is characterized in that the method also includes：
The receiving end counts the data receiver frequency and/or received signal quality of at least one kind of data；
Wherein, the feedback information includes data receiver frequency and/or received signal quality.
9. according to the method described in claim 8, it is characterized in that, the receiving end is sent at least one kind of data
Feedback information, including：
The receiving end periodically sends the feedback information at least one kind of data.
10. method according to claim 7 or 8, which is characterized in that the receiving end, which is sent, is directed at least one kind of number
According to feedback information, including：
When the receiving end detects that the reception frequency of data is less than preset threshold, send for the anti-of at least one kind of data
Feedforward information.
11. a kind of data transmission device, which is characterized in that including：
Sending module, for sending at least one kind of data to receiving end；
Receiving module, the feedback information for feedback data reception state sent for receiving the receiving end；
Adjustment module, for adjusting the transmission frequency of the data at least one kind of data according to the feedback information.
12. a kind of data transmission device, which is characterized in that including：
Receiving module, for receiving at least one kind of data of transmitting terminal transmission；
Sending module sends the feedback information for being directed at least one kind of data for receiving end, and the feedback information is for feeding back
The data receiving state of at least one kind of data, so that the transmitting terminal is adjusted described at least one kind of according to the feedback information
The transmission frequency of data in data.
13. a kind of aircraft, which is characterized in that including：
Memory, for storing computer program；
Processor, for executing the computer program, to realize such as transmission side data of any of claims 1-6
Method.
14. a kind of control equipment, which is characterized in that including：
Memory, for storing computer program；
Processor, for executing the computer program, to realize the data transmission as described in any one of claim 7-10
Method.
15. a kind of data transmission system, which is characterized in that including：The aircraft and control equipment of communication connection.
16. a kind of computer storage medium, which is characterized in that store computer program, the computer in the storage medium
Program realizes such as data transmission method of any of claims 1-10 when being executed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810631203.9A CN108923839B (en) | 2018-06-19 | 2018-06-19 | Data transmission method, device and system, aircraft and control equipment |
| PCT/CN2019/090937 WO2019242551A1 (en) | 2018-06-19 | 2019-06-12 | Data transmission method, apparatus, and system, aircraft, and control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810631203.9A CN108923839B (en) | 2018-06-19 | 2018-06-19 | Data transmission method, device and system, aircraft and control equipment |
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| CN108923839B CN108923839B (en) | 2021-10-22 |
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| CN112335223A (en) * | 2019-10-31 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Control method, data transmission device, shooting device, control system, holder, movable platform and computer-readable storage medium |
| WO2021081933A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Control method, data transmission apparatus, photographic apparatus, control system, gimbal, mobile platform, and computer readable storage medium |
| CN112335223B (en) * | 2019-10-31 | 2022-03-18 | 深圳市大疆创新科技有限公司 | Control method, device, system, holder, movable platform and storage medium |
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| CN114543287A (en) * | 2022-01-27 | 2022-05-27 | 青岛海尔空调器有限总公司 | Control method and control device of air conditioner and air conditioner |
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| CN108923839B (en) | 2021-10-22 |
| WO2019242551A1 (en) | 2019-12-26 |
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