CN109644042A - For the communication means of remote controler and unmanned plane, device and communication system - Google Patents
For the communication means of remote controler and unmanned plane, device and communication system Download PDFInfo
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Classifications
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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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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- 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
- H04L1/0003—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate by switching between different modulation schemes
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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
- H04L1/0009—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the channel coding
Abstract
Embodiment of the disclosure provides the communication means for remote controler and the communication means for unmanned plane, corresponding remote controler and unmanned plane and communication system.The remote controler is remotely controlled at least two unmanned planes simultaneously.The communication means for remote controler includes: to receive data from least two unmanned plane using multiple access technology；Based on from the received data of each unmanned plane, the channel quality information for reflecting communication channel quality of the unmanned plane to remote controler is generated；By feedback channel, the channel quality information is fed back to each unmanned plane, the unmanned plane is enabled to send Modulation and Coding Scheme MCS used by data based on the channel quality information adjustment fed back.
Description
Technical field
This disclosure relates to the communications field more particularly to the relevant communications field of remote controler and unmanned plane, and more specifically
It is related to a kind of communication means for remote controler, the communication means for unmanned plane, corresponding remote controler and unmanned plane and logical
Letter system.
Background technique
For Portable unmanned machine, it usually needs special control equipment (such as remote controler or band with operation panel
Have the mobile device for the interactive panel for having display function) wirelessly linked with unmanned plane, and refer to unmanned plane transmission
It enables；The instruction of unmanned plane response simultaneously is moved and returns the figure communication number for example shot by Airborne Camera, to reach winged
The interaction of control and composition.
In unmanned plane application, there are the demands of a remote control control multiple UAVs (for example, by an earth station GS
Multi rack agricultural plant protection machine is controlled simultaneously), form the Star Network of a unmanned plane.But how to improve for unmanned plane star
The communication efficiency of network application is problem to be solved.
Summary of the invention
In order to improve the communication efficiency of unmanned plane Star Network application, the embodiment of the present disclosure provides a kind of for remote controler
Communication means, the communication means for unmanned plane, corresponding remote controler and unmanned plane and communication system.Specific technical solution
It is as follows.
According to the first aspect of the embodiments of the present disclosure, a kind of communication means for remote controler is provided, wherein described distant
It controls device and is remotely controlled at least two unmanned planes simultaneously.The communication means includes: using multiple access technology, from least two unmanned plane
Receive data；Based on from the received data of each unmanned plane, the communication channel quality for reflecting the unmanned plane to remote controler is generated
Channel quality information；And by feedback channel, feed back the channel quality information to each unmanned plane so that it is described nobody
Machine can send Modulation and Coding Scheme MCS used by data based on the channel quality information adjustment fed back.
According to the second aspect of an embodiment of the present disclosure, a kind of communication means for unmanned plane is provided, wherein the nothing
Man-machine and at least one other unmanned plane is by same remote control device.The communication means includes: to utilize multiple access technology, Xiang Suoshu
Remote controler sends data；By feedback channel, is received from the remote controler and reflect the communication of the unmanned plane to the remote controler
The channel quality information of channel quality；And it is based on the channel quality information, adjustment sends modulating-coding used by data
Scheme MCS.
According to the third aspect of an embodiment of the present disclosure, a kind of remote controler is provided.The remote controler is remotely controlled at least two simultaneously
A unmanned plane, and include: information transceiving device, for sending data to unmanned plane and receiving data from unmanned plane；Memory,
It is configured for storage executable instruction；Processor is configured for executing the executable instruction stored in memory, to hold
Row following steps: the information transceiving device is controlled using multiple access technology, receives data from least two unmanned plane；It is based on
From the received data of each unmanned plane, the channel quality letter for reflecting communication channel quality of the unmanned plane to remote controler is generated
Breath；The information transceiving device is controlled by feedback channel, the channel quality information is fed back to each unmanned plane, so that described
Unmanned plane can send Modulation and Coding Scheme MCS used by data based on the channel quality information adjustment fed back.
According to a fourth aspect of embodiments of the present disclosure, a kind of unmanned plane is provided.The unmanned plane with it is at least one other
Unmanned plane is included: information transceiving device by same remote control device, for sending data to unmanned plane and connecing from unmanned plane
Receive data；Memory is configured for storage executable instruction；Processor, is configured for executing and is stored in memory
Executable instruction, to execute following steps: controlling the information transceiving device using multiple access technology, Xiang Suoshu remote controler sends number
According to；The information transceiving device is controlled by feedback channel, is received from the remote controler and reflects the unmanned plane to the remote control
The channel quality information of the communication channel quality of device；Based on the channel quality information, adjustment sends modulation used by data
Encoding scheme MCS.
According to a fifth aspect of the embodiments of the present disclosure, a kind of communication system is provided, comprising: according to the remote control of the third aspect
Device；And the unmanned plane according to fourth aspect.
According to a sixth aspect of an embodiment of the present disclosure, a kind of computer readable storage medium is provided, meter is stored thereon with
Calculation machine program instruction, which is characterized in that execute when the program instruction is executed by processor according to open embodiment first aspect or
Method described in second aspect.
Using embodiment of the disclosure, remote controler can be by feedback channel respectively at least two unmanned planes that it is controlled
Feed back each unmanned plane to remote controler communication channel quality channel quality information.To which the unmanned plane can be based on respective
To the communication channel quality of remote controler, Modulation and Coding Scheme MCS appropriate is respectively adopted, so that respectively believing to the communication of remote controler
The data transmission efficiency in road reaches maximum, so improve whole unmanned planes in unmanned plane Star Network to remote controler overall number
According to efficiency of transmission.
Detailed description of the invention
For the purposes, technical schemes and advantages of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
Attached drawing is described in further detail the disclosure, in attached drawing:
Fig. 1 shows the schematic diagram applied according to the unmanned plane Star Network of the embodiment of the present disclosure；
Fig. 2 shows the flow charts according to the communication means for remote controler of the embodiment of the present disclosure；
Fig. 3 shows the schematic diagram of communication channel between remote controler and unmanned plane according to the embodiment of the present disclosure；
Fig. 4 shows the schematic diagram of the communication channel relationship according to the embodiment of the present disclosure；
Fig. 5 shows the flow chart of the communication means for unmanned plane according to the embodiment of the present disclosure；
Fig. 6 shows a kind of flow chart of possible implementation of step S530 in Fig. 5 according to the embodiment of the present disclosure；
Fig. 7 shows the flow chart of another possible implementation of step S530 in Fig. 5 according to the embodiment of the present disclosure；
Fig. 8 shows the structural block diagram of the remote controler according to the embodiment of the present disclosure；
Fig. 9 shows the structural block diagram of the unmanned plane according to the embodiment of the present disclosure.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solution to the embodiment of the present invention is described in further detail.
In the description, the same or similar drawing reference numeral indicates the same or similar component.It is following that the present invention is implemented referring to attached drawing
The explanation of mode is intended to explain present general inventive concept of the invention, and is not construed as to a kind of limit of the invention
System.
In addition, in the following detailed description, to elaborate many concrete details to provide to present disclosure convenient for explaining
The comprehensive understanding of embodiment.It should be apparent, however, that one or more embodiments without these specific details can also be with
It is carried out.In other cases, well known construction and device is diagrammatically embodied to simplify attached drawing.The case where not conflicting
Under, the feature in following embodiment and embodiment can be combined with each other.
The specific embodiment of the disclosure is illustrated with reference to the accompanying drawing.
Fig. 1 shows the schematic diagram applied according to the unmanned plane Star Network of the embodiment of the present disclosure.As shown, remote controler
Unmanned plane 1, unmanned plane 2 and unmanned plane 3 are controlled simultaneously.The remote controler, which can be, has both distant control function, data receiver function, meter
Calculate function, storage writing function and the earth station GS for showing monitoring function.When unmanned plane 1,2 and 3 is advanced along different routes, phase
It is different for the spatial position of remote controler.Specifically, unmanned plane 1,2 and 3 relative to remote controler orientation and/or with remote control
Distance between device may be different, thus unmanned plane 1,2 and radio signal propagation environment between 3 and remote controler may it is different (for example,
Presence or absence of barrier, multipath model difference etc. on beeline channel), different channel radios are respectively provided between remote controler
Believe channel, as shown in phantom in FIG..
Fig. 2 shows the flow charts according to the communication means 200 for remote controler of the embodiment of the present disclosure, wherein described
Remote controler is remotely controlled at least two unmanned planes simultaneously.As shown, the communication means 200 includes the following steps.
In step S210, remote controler utilizes multiple access technology, receives data from least two unmanned plane.
By taking unmanned plane Star Network shown in FIG. 1 as an example, the communication means can be applied to remote controler therein.The remote control
Device can use one of multiple access technologies such as time-division, frequency division, code point, space division or any combination thereof while receive the hair of unmanned plane 1,2,3
The data sent.For example, when employed division multiple access technology when, unmanned plane 1,2,3 respectively in the time domain adjacent 3 time slots (for example,
Time slot 1,2,3) on periodically send respective data, remote controler correspondingly periodically receives on time slot 1,2,3 respectively
The data that unmanned plane 1,2,3 is sent.In other words, by being in the time domain that unmanned plane 1,2,3 distributes special periodic slot, make
Obtain the data that remote controler separably receives the transmission of unmanned plane 1,2,3.Similarly, when using frequency division multiple access, CDMA, space division
When multiple access technology, by being that each unmanned plane distributes dedicated orthogonality resource in frequency domain, code domain, spatial domain, so that remote controler
Separably receive the data that each unmanned plane is sent.
In step S220, remote controler is based on generating from the received data of each unmanned plane and reflecting the unmanned plane to remote control
The channel quality information of the communication channel quality of device.
Still by taking unmanned plane Star Network shown in FIG. 1 as an example, remote controler is based on generating anti-from the received data of unmanned plane 1
Reflect the channel quality information that unmanned plane 1 arrives the communication channel quality of remote controler.Similarly, remote controler is based respectively on from unmanned plane 2,3
Received data generate the channel quality information that reflection unmanned plane 2,3 respectively arrives the communication channel quality of remote controler.
In an optional implementation, the channel quality information can be true for the affirmative of data unit received
Recognize ACK or negative confirmation NACK.The data unit can be the data such as data packet, data frame with certain format
Block.The ACK or NACK can execute cyclic redundancy check (CRC) operation to the data unit received by remote controler and obtain.
Specifically, CRC check is accurately corresponding to ACK, and CRC check mistake corresponds to NACK.
In another optional implementation, the channel quality information can be remote controler based on the DATA REASONING received
Signal-to-noise ratio S/N out.Compared with ACK/NACK, signal-to-noise ratio can more accurately reflect communication channel quality, but feed back signal-to-noise ratio
(the latter usually only needs the feedback letter of a bit to the information content of the transmission needed for feeding back ACK/NACK that contains much information of required transmission
Breath).In order to reduce feedback signal-to-noise ratio needed for transmission information content, the possibility value range of signal-to-noise ratio can be divided into it is several from
Section is dissipated, indicates which discrete segment the signal-to-noise ratio measured falls in a small amount of bit.
In step S230, remote controler feeds back the channel quality information by feedback channel, to each unmanned plane, so that institute
Modulation and Coding Scheme MCS used by data can be sent based on the channel quality information adjustment fed back by stating unmanned plane.
It continues the examples above, when unmanned plane 1 generates the channel quality that reflection unmanned plane 1 arrives the communication channel quality of remote controler
After information, by feedback channel, the channel quality information is fed back to unmanned plane 1.In turn, unmanned plane 1 can be based on being fed back
Channel quality information adjustment sends Modulation and Coding Scheme MCS used by data.Similarly, remote controler is by feedback channel, respectively
The channel quality information that reflection unmanned plane 2,3 arrives the communication channel quality of remote controler is fed back to unmanned plane 2,3, so that unmanned plane 2,
3 can send Modulation and Coding Scheme MCS used by data based on the channel quality information adjustment fed back.
For example, when remote controler indicates channel quality by the channel quality information that feedback channel is fed back to unmanned plane 1
When preferable, even if unmanned plane 1 uses higher MCS rank in channel data, remote controler can also have correctly received its hair
The data sent.Therefore, unmanned plane 1 can be sent to MCS used by data and be adjusted to higher level, to use high order modulation
With high code rate (such as 64QAM, higher Error Correction of Coding code rate) so that unmanned plane 1 to remote controler communication channel data
Efficiency of transmission reaches maximum.
At the same time, remote controler may indicate that channel matter to the channel quality information that unmanned plane 2 is fed back by feedback channel
It measures poor.Under the channel conditions, if unmanned plane 2 uses higher MCS rank in channel data, remote controler is correct
The probability for receiving data transmitted by unmanned plane 2 will substantially reduce.Therefore, unmanned plane 2 can be sent to used by data
MCS is adjusted to lower rank, to use lower order of modulation and compared with low bit- rate (such as QPSK, lower Error Correction of Coding code
Rate), the probability that remote controler can have correctly received data is improved, so that the data that unmanned plane 2 arrives the communication channel of remote controler pass
Defeated efficiency reaches maximum.
Similarly, when remote controler indicates that channel quality is medium by the channel quality information that feedback channel is fed back to unmanned plane 3
When, unmanned plane 3 can be sent to MCS used by data and be adjusted to medium rank, to use medium order of modulation in
Equal code rates (such as 16QAM, medium Error Correction of Coding code rate).
As an example, following table 1 give MCS rank combined with modulation system and code rate between possible corresponding relationship.
Table 1
It, can when remote control applications in the unmanned plane Star Network shown in Fig. 1 are according to the communication means of above-described embodiment
Unmanned plane 1,2,3 is fed back respectively to the channel of the communication channel quality of remote controler to unmanned plane 1,2,3 respectively by feedback channel
Quality information.To which tune appropriate can be respectively adopted based on the communication channel quality for respectively arriving remote controler in unmanned plane 1,2,3
Encoding scheme MCS processed so that respectively reaching maximum to the data transmission efficiency of the communication channel of remote controler, and then maximizes nobody
The overall data transmission efficiency of whole unmanned planes in machine Star Network to remote controler.
Optionally, as shown in Fig. 2 dotted line frame, the communication means 200 can also include step S240: remote controler passes through wide
Channel is broadcast, at least two unmanned plane of Xiang Suoshu sends control data.The control data bag, which is included but is not limited to use in, controls nobody
Machine traveling/posture data and/or the data how operated for controlling Airborne Camera.In one embodiment, remote controler can be with
Feedback information is issued at least two unmanned plane by broadcast mode.At this point, broadcast channel doubles as feedback channel.
For ease of understanding, Fig. 3 shows the signal of communication channel between remote controler and unmanned plane according to the embodiment of the present disclosure
Figure.
It is respectively represented from three thick dashed line that unmanned plane 1,2,3 is directed toward remote controler from unmanned plane 1,2,3 to remote controler in Fig. 3
Data transmission channel, three fine dotted lines for being directed toward unmanned plane 1,2,3 from remote controler respectively represent 1 from remote controler to unmanned plane,
2,3 feedback channel, the dotted ellipse above remote controler are represented for sending control data from remote controler to unmanned plane 1,2,3
Broadcast channel.
In practical applications, from remote controler to unmanned plane 1,2,3 feedback channel can be distinguished using multiple access technology.It is described
Multiple access technology includes but is not limited to time-division, frequency division, code point, space division multiple access.
Fig. 4 shows the schematic diagram of the communication channel relationship according to the embodiment of the present disclosure.As shown in figure 4, from unmanned plane
1, it 2,3 arrives on the direction (that is, direction indicated by thick dashed line in figure) of remote controler, is respectively provided with three not be overlapped mutually in the time domain
A time-derived channel, for sending data from unmanned plane 1,2,3 to remote controler.In from remote controler to unmanned plane 1,2,3 direction
On (that is, direction indicated by fine dotted line in figure), three feedback channels corresponding with three time-derived channels are respectively provided with, are used for
From remote controler to 1,2,3 feedback channel quality information of unmanned plane, the communication for reflecting unmanned plane 1,2,3 to the remote controler respectively is believed
Road quality.Remote controler sends the control data for controlling unmanned plane 1,2,3 by broadcast channel also in entire time domain scale.
It should be understood that Fig. 4 is only carried out so that the data communication from unmanned plane to remote controler is using time division multiple access technology as an example
Signal.When using other multiple access technologies, unmanned plane 1,2,3 can send number to remote controler in entire time domain scale
According to, and the data respectively sent are distinguished by the orthogonality resource distributed in other domains.
Fig. 5 shows the flow chart of the communication means 500 for unmanned plane according to the embodiment of the present disclosure, wherein described
Unmanned plane and at least one other unmanned plane are by same remote control device.As shown, the communication means 500 includes following step
Suddenly.
In step S510, unmanned plane utilizes multiple access technology, and Xiang Suoshu remote controler sends data.
In step S520, unmanned plane receives from the remote controler by feedback channel and reflects the unmanned plane to described distant
Control the channel quality information of the communication channel quality of device.
In step S530, unmanned plane is based on the channel quality information, and adjustment sends modulating-coding side used by data
Case MCS.
In an optional implementation, the channel quality information is that the remote controler is directed to the data unit received
Positive acknowledgment ACK or negative confirmation NACK.The data unit can be has certain format such as data packet, data frame
Data block.The ACK or NACK can execute cyclic redundancy check (CRC) operation to the data unit received by remote controler and obtain
?.Specifically, CRC check is accurately corresponding to ACK, and CRC check mistake corresponds to NACK.
At this point, MCS adjustable strategies (that is, step S530) can be realized by process as shown in FIG. 6.Specifically, step
S530 may include following sub-step.
In step S531, weighted statistical amount is initialized.
In step S532, upon receipt of the ack, increase the weighted statistical amount by the first preset value.
In step S533, when the nack is received, the weighted statistical amount is made to subtract the second preset value, described second is default
Value is determined based on object transmission error rate.
In step S534, when weighted statistical amount is more than thresholding, adjustment sends Modulation and Coding Scheme used by data
MCS。
In practical implementations, the first thresholding and the second thresholding can be respectively set, first thresholding is higher than the second thresholding.
When weighted statistical amount is greater than the first thresholding, MCS rank is raised into level-one, and reinitialize weighted statistical amount；When weighting is united
When metering is less than the second thresholding, MCS rank is lowered into level-one, and reinitialize weighted statistical amount.
It is described according to mathematical linguistics, above-mentioned strategy is represented by following formula.
Firstly, S (n) is enabled to indicate weighted statistical amount, S (n) is initialized as initial value, such as 0.That is, S (n)=0.
If remote controler has correctly received previous data unit and fed back ACK to unmanned plane, S (n) is set to increase by first pre-
If value, such as 1；If remote controler is not properly received previous data unit and has fed back NACK to unmanned plane, subtract S (n)
Second preset value, such as k.That is,
The second preset value k can be determined based on object transmission error rate.For example it is assumed that receiving end target Packet Error Rate
It is 10%, k=ACK sum/sum=9 NACK can be enabled.
When S (n) is greater than the first thresholding T1 (that is, S (n) > T1), MCS rank is raised into level-one；When S (n) is less than second
When thresholding T2 (that is, S (n) < T2), MCS rank is lowered into level-one.
First thresholding T1 and the second thresholding T2 is for controlling the sensitivity that MCS rank adjusting is fed back in response to ACK/NACK.
Its value is smaller, and the response that MCS rank adjusting feeds back ACK/NACK is sensitiveer；Its value is bigger, and MCS rank adjusting is to ACK/
The response of NACK is more insensitive.The specific value of T1 and T2 can be selected according to engineering experience, and size can be taken identical
The opposite numerical value of symbol.In Practical Project, should not the value of T2 be arranged too small.This is because working as the poor (example of channel condition
As channel undergoes deep fade) when, receiving end may the multiple NACK of continuous feedback.If T2 value is too small, to will lead to MCS rank fast
Speed is adjusted downward to floor level, however actual channel quality may support higher MCS rank.As an example, T2=- can be taken
70.In some embodiment, when receiving end continuously receives 8 wrong packets (8*9 < -70), MCS rank is lowered into level-one.
Using above-mentioned MCS adjustable strategies, through convergence after a period of time, MCS is by the rank adjusting of initial setting up to stabilization
Rank, actual transmissions error rate is maintained at object transmission error rate, and weighted statistical amount S (n) fluctuation up and down near 0 does not surpass
The range of T1 and T2 out.
In another optional implementation, T1 and T2 can be adjusted correspondingly with the adjustment of MCS.For example, adjusting
When the whole initial stage, lesser value can be set by T1 and T2, so that MCS adjustment can restrain as early as possible.Passing through
After the adjustment of long period, biggish value can be set by T1 and T2, so that being conducive to MCS is stable at a certain rank.
In another optional implementation, T1 and T2 can be adjusted with the velocity of wave motion of MCS.For example, working as MCS wave
When dynamic fast speed, the value of T1 and T2 can be increased, to improve the stability of MCS.
In another optional implementation, the channel quality information is the remote controler based on the DATA REASONING received
Signal-to-noise ratio S/N out.Compared with ACK/NACK, signal-to-noise ratio can more accurately reflect communication channel quality, but feed back signal-to-noise ratio
(the latter usually only needs the feedback letter of a bit to the information content of the transmission needed for feeding back ACK/NACK that contains much information of required transmission
Breath).In order to reduce feedback signal-to-noise ratio needed for transmission information content, the possibility value range of signal-to-noise ratio can be divided into it is several from
Section is dissipated, indicates which discrete segment the signal-to-noise ratio measured falls in a small amount of bit.
At this point, MCS adjustable strategies (that is, step S530) can process as shown in Fig. 7 realize.Specifically, step
S530 may include following sub-step.
In step S531 ', MCS rank corresponding with the signal-to-noise ratio measured is determined.
Wherein, MCS rank corresponding with signal-to-noise ratio is so that the data of communication channel of the unmanned plane to remote controler are transmitted
Efficiency reaches maximum MCS rank.This corresponding relationship between signal-to-noise ratio and MCS rank can pass through Computer Simulation, reason
It is obtained by calculating and/or according to engineering experience.Corresponding relationship between signal-to-noise ratio and MCS rank can be formulated to corresponding pass in advance
It is table, is stored in unmanned plane.When the signal-to-noise ratio for including in the channel quality information that unmanned plane receives remote controler feedback,
By way of tabling look-up, MCS rank corresponding with the signal-to-noise ratio measured is determined.
It is identified MCS rank by MCS rank adjusting in step S532 '.
Using above-mentioned MCS adjustable strategies, MCS can directly be adjusted to be adapted with current communication channel quality by unmanned plane
Rank.
Optionally, as shown in Fig. 5 dotted line frame, the communication means 500 can also include step S540: unmanned plane passes through wide
Channel is broadcast, receives control data from the remote controler.The control data bag includes but is not limited to use in control unmanned plane traveling/appearance
The data of state and/or the data how operated for controlling Airborne Camera.
The embodiment of the present disclosure additionally provides a kind of remote controler.Fig. 8 shows the structural block diagram of the remote controler 800, described distant
It controls device and is remotely controlled at least two unmanned planes simultaneously.
As shown, the remote controler 800 includes: information transceiving device 810 and processor 820.
The information transceiving device 810 is used to send data to unmanned plane and receives data from unmanned plane, may include example
Such as general communication component of antenna, modem, codec.
The processor 820 is configured for: control the information transceiving device 810 using multiple access technology, from it is described to
Few two unmanned planes receive data；Based on from the received data of each unmanned plane, generates and reflect the unmanned plane to remote controler
The channel quality information of communication channel quality；It controls the information transceiving device 810 and passes through feedback channel, it is anti-to each unmanned plane
The channel quality information is presented, enables the unmanned plane to send data based on the channel quality information adjustment fed back and is adopted
Modulation and Coding Scheme MCS.The processor 820 can be implemented as one or more general processors (for example, central processing
Unit (CPU), microprocessor (μ P), digital signal processor (DSP)).
As an example, the channel quality information is the positive acknowledgment ACK for the data unit received or negates true
Recognize NACK.Alternatively, the channel quality information is the signal-to-noise ratio gone out based on the DATA REASONING received.
Optionally, the processor 820 is additionally configured to be used for: controlling the information transceiving device 810 and passes through broadcast letter
Road, at least two unmanned plane of Xiang Suoshu send control data, wherein the multiple access technology is time division multiple acess, frequency division multiple access, code point
Multiple access or space division multiple access.
Fig. 9 shows the structural block diagram of the unmanned plane 900 according to the embodiment of the present disclosure, wherein the unmanned plane at least
One other unmanned plane is by same remote control device.
As shown, the unmanned plane 900 includes: information transceiving device 910 and processor 920.
The information transceiving device 910 is used to send data to unmanned plane and receives data from unmanned plane, may include example
Such as general communication component of antenna, modem, codec.
The processor 920 is configured for: the information transceiving device 910 is controlled using multiple access technology, to described distant
It controls device and sends data；The information transceiving device 910 is controlled by feedback channel, from the remote controler receive reflection it is described nobody
Machine to the remote controler communication channel quality channel quality information；Based on the channel quality information, adjustment sends data
Used Modulation and Coding Scheme MCS.The processor 920 can be implemented as one or more general processors (for example, center
Processing unit (CPU), microprocessor (μ P), digital signal processor (DSP)).
For example, the channel quality information can be the positive acknowledgment that the remote controler is directed to the data unit received
ACK or negative confirmation NACK.
In this case, described to be based on the channel quality information, adjustment sends Modulation and Coding Scheme used by data
MCS may include: initialization weighted statistical amount；Upon receipt of the ack, increase the weighted statistical amount by the first preset value；When
When receiving NACK, the weighted statistical amount is made to subtract the second preset value, second preset value is based on object transmission error rate
To determine；When weighted statistical amount is more than thresholding, adjustment sends Modulation and Coding Scheme MCS used by data.
It is described when weighted statistical amount be more than thresholding when, adjustment send data used by Modulation and Coding Scheme MCS can wrap
It includes: when weighted statistical amount is greater than the first thresholding, MCS rank being raised into level-one, and reinitialize weighted statistical amount；And work as
When weighted statistical amount is less than the second thresholding, MCS rank is lowered into level-one, and reinitialize weighted statistical amount, described first
Limit for height is in second thresholding.
Alternatively, the channel quality information is the signal-to-noise ratio that the remote controler is gone out based on the DATA REASONING received.
In this case, described to be based on the channel quality information, adjustment sends Modulation and Coding Scheme used by data
MCS may include: to determine MCS rank corresponding with the signal-to-noise ratio measured；It and by MCS rank adjusting is identified
MCS rank.
Optionally, the processor 920 is additionally configured to: it controls the information transceiving device 910 and passes through broadcast channel,
Control data are received from the remote controler, wherein the multiple access technology is time division multiple acess, frequency division multiple access, CDMA or space division
Multiple access.
It should be understood that can also be by dedicated above by the function that mode of the general processor in conjunction with software is realized
Hardware (for example, field programmable gate array (FPGA), specific integrated circuit (ASIC) etc.) Lai Shixian.
The embodiment of the present disclosure additionally provides a kind of communication system, comprising: the remote controler described above by reference to Fig. 8；And ginseng
According to the unmanned plane of Fig. 9 description.
The embodiment of the present disclosure additionally provides a kind of computer readable storage medium, is stored thereon with computer program instructions,
It is characterized in that, the program instruction above-mentioned communication means for remote controler or communication for unmanned plane when being executed by processor
Method.
The computer readable storage medium can by any kind of volatibility or non-volatile memory device or it
Combination realize, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable
Except programmable read only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, fast
Flash memory, disk or CD.
Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects
Describe in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, be not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the protection of the disclosure
Within the scope of.
Claims (24)
1. a kind of communication means, is configured for remote controler, wherein the remote controler is remotely controlled at least two unmanned planes, institute simultaneously
Stating communication means includes:
Using multiple access technology, data are received from least two unmanned plane；
Based on from the received data of each unmanned plane, the channel for reflecting communication channel quality of the unmanned plane to remote controler is generated
Quality information；
By feedback channel, the channel quality information is fed back to each unmanned plane, enables the unmanned plane to be based on institute anti-
The channel quality information adjustment of feedback sends Modulation and Coding Scheme MCS used by data.
2. communication means according to claim 1, wherein the channel quality information is for the data unit received
Positive acknowledgment ACK or negative confirmation NACK.
3. communication means according to claim 1, wherein the channel quality information is based on the DATA REASONING received
Signal-to-noise ratio out.
4. communication means according to any one of claim 1 to 3, further includes: pass through broadcast channel, Xiang Suoshu at least two
A unmanned plane sends control data, wherein the multiple access technology is time division multiple acess, frequency division multiple access, CDMA or space division multiple access.
5. a kind of communication means, is configured for unmanned plane, wherein the unmanned plane is at least one other unmanned plane by same
Remote control device, which comprises
Using multiple access technology, Xiang Suoshu remote controler sends data；
By feedback channel, the letter for reflecting communication channel quality of the unmanned plane to the remote controler is received from the remote controler
Road quality information；
Based on the channel quality information, adjustment sends Modulation and Coding Scheme MCS used by data.
6. communication means according to claim 5, wherein the channel quality information is the remote controler for receiving
Data unit positive acknowledgment ACK or negative confirmation NACK.
7. communication means according to claim 6, wherein described to be based on the channel quality information, adjustment sends data
Used Modulation and Coding Scheme MCS, comprising:
Initialize weighted statistical amount；
Upon receipt of the ack, increase the weighted statistical amount by the first preset value；
When the nack is received, the weighted statistical amount is made to subtract the second preset value, second preset value is based on object transmission
Error rate determines；
When weighted statistical amount is more than thresholding, adjustment sends Modulation and Coding Scheme MCS used by data.
8. communication means according to claim 7, wherein described when weighted statistical amount is more than thresholding, adjustment sends number
According to used Modulation and Coding Scheme MCS, comprising:
When weighted statistical amount is greater than the first thresholding, MCS rank is raised into level-one, and reinitialize weighted statistical amount；
When weighted statistical amount is less than the second thresholding, MCS rank is lowered into level-one, and reinitialize weighted statistical amount, it is described
First thresholding is higher than second thresholding.
9. communication means according to claim 5, wherein the channel quality information is that the remote controler is based on receiving
DATA REASONING go out signal-to-noise ratio.
10. communication means according to claim 9, wherein described to be based on the channel quality information, adjustment sends data
Used Modulation and Coding Scheme MCS includes:
Determine MCS rank corresponding with the signal-to-noise ratio measured；
It is identified MCS rank by MCS rank adjusting.
11. the communication means according to any one of claim 5 to 10, further includes: by broadcast channel, from the remote control
Device receives control data, wherein the multiple access technology is time division multiple acess, frequency division multiple access, CDMA or space division multiple access.
12. a kind of remote controler, wherein the remote controler is remotely controlled at least two unmanned planes simultaneously, and the remote controler includes:
Information transceiving device, for sending data to unmanned plane and receiving data from unmanned plane；
Processor is configured for:
The information transceiving device is controlled using multiple access technology, receives data from least two unmanned plane；
Based on from the received data of each unmanned plane, the channel for reflecting communication channel quality of the unmanned plane to remote controler is generated
Quality information；
The information transceiving device is controlled by feedback channel, the channel quality information is fed back to each unmanned plane, so that institute
Modulation and Coding Scheme MCS used by data can be sent based on the channel quality information adjustment fed back by stating unmanned plane.
13. remote controler according to claim 12, wherein the channel quality information is for the data unit received
Positive acknowledgment ACK or negative confirmation NACK.
14. remote controler according to claim 12 or 13, wherein the channel quality information is based on the data received
The signal-to-noise ratio measured.
15. remote controler described in any one of 2 to 14 according to claim 1, wherein the processor is additionally configured to be used for:
The information transceiving device is controlled by broadcast channel, at least two unmanned plane of Xiang Suoshu sends control data, wherein described more
Location technology is time division multiple acess, frequency division multiple access, CDMA or space division multiple access.
16. a kind of unmanned plane, wherein the unmanned plane and at least one other unmanned plane are by same remote control device, the nothing
It is man-machine to include:
Information transceiving device, for sending data to unmanned plane and receiving data from unmanned plane；
Processor is configured for:
The information transceiving device is controlled using multiple access technology, Xiang Suoshu remote controler sends data；
The information transceiving device is controlled by feedback channel, is received from the remote controler and reflects the unmanned plane to the remote control
The channel quality information of the communication channel quality of device；
Based on the channel quality information, adjustment sends Modulation and Coding Scheme MCS used by data.
17. unmanned plane according to claim 16, wherein the channel quality information is the remote controler for receiving
Data unit positive acknowledgment ACK or negative confirmation NACK.
18. unmanned plane according to claim 17, wherein described to be based on the channel quality information, adjustment sends data
Used Modulation and Coding Scheme MCS includes:
Initialize weighted statistical amount；
Upon receipt of the ack, increase the weighted statistical amount by the first preset value；
When the nack is received, the weighted statistical amount is made to subtract the second preset value, second preset value is based on object transmission
Error rate determines；
When weighted statistical amount is more than thresholding, adjustment sends Modulation and Coding Scheme MCS used by data.
19. unmanned plane according to claim 18, wherein described when weighted statistical amount is more than thresholding, adjustment sends number
Include: according to used Modulation and Coding Scheme MCS
When weighted statistical amount is greater than the first thresholding, MCS rank is raised into level-one, and reinitialize weighted statistical amount；
When weighted statistical amount is less than the second thresholding, MCS rank is lowered into level-one, and reinitialize weighted statistical amount, it is described
First thresholding is higher than second thresholding.
20. unmanned plane according to claim 16, wherein the channel quality information is that the remote controler is based on receiving
DATA REASONING go out signal-to-noise ratio.
21. unmanned plane according to claim 20, wherein described to be based on the channel quality information, adjustment sends data
Used Modulation and Coding Scheme MCS includes:
Determine MCS rank corresponding with the signal-to-noise ratio measured；
It is identified MCS rank by MCS rank adjusting.
22. unmanned plane described in any one of 6 to 21 according to claim 1, wherein the processor is additionally configured to: control
The information transceiving device is made by broadcast channel, receives control data from the remote controler, wherein when the multiple access technology is
Divide multiple access, frequency division multiple access, CDMA or space division multiple access.
23. a kind of communication system, comprising:
Remote controler described in any one of 2 to 15 according to claim 1；And
Unmanned plane described in any one of 6 to 22 according to claim 1.
24. a kind of computer readable storage medium, is stored thereon with computer program instructions, which is characterized in that the program instruction
Method according to any one of claim 1 to 11 is executed when being executed by processor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/116958 WO2019119214A1 (en) | 2017-12-18 | 2017-12-18 | Communication method and device for remote controller and unmanned aerial vehicle, and communication system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109644042A true CN109644042A (en) | 2019-04-16 |
| CN109644042B CN109644042B (en) | 2021-05-28 |
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| WO (1) | WO2019119214A1 (en) |
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| CN109644042B (en) | 2021-05-28 |
| WO2019119214A1 (en) | 2019-06-27 |
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