CN110445532A - The more base station data fusion methods of unmanned plane cellular communication based on order cycle queue - Google Patents
The more base station data fusion methods of unmanned plane cellular communication based on order cycle queue Download PDFInfo
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- CN110445532A CN110445532A CN201910750975.9A CN201910750975A CN110445532A CN 110445532 A CN110445532 A CN 110445532A CN 201910750975 A CN201910750975 A CN 201910750975A CN 110445532 A CN110445532 A CN 110445532A
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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
- 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
- H04B7/1851—Systems using a satellite or space-based relay
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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
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
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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
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
- H04W88/10—Access point devices adapted for operation in multiple networks, e.g. multi-mode access points
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Abstract
The invention belongs to UAV Communication technical fields, disclose a kind of more base station data fusion methods of the unmanned plane cellular communication based on order cycle queue, comprising the following steps: build hybrid base station；Cellular communications networks are constructed using hybrid base station；Unmanned plane sends telemetry frame to hybrid base station；Active base station is selected from hybrid base station；Active base station sends telemetering repeater frame to console；Console constructs multiple order cycle queues for multiple unmanned planes；Console writes data into order cycle queue；The data of console reading order cycle queue；The data of all telemetering repeater frames are written in orderly round-robin queue console, and console is read the data in all order cycle queues.The present invention utilizes hybrid base station cellular communication framework, and multiple hybrid base stations are that unmanned plane transmits telemetry, carries out data fusion using order cycle queue, reduces the packet loss of significant data, reduce the time complexity of system.
Description
Technical field
The invention belongs to UAV Communication technical fields, and in particular to a kind of unmanned plane honeycomb based on order cycle queue
Communicate more base station data fusion methods.
Background technique
With the development of unmanned air vehicle technique, unmanned plane no longer simple application is in movies-making, miniature self-timer etc., in agriculture
It answers in the fields such as industry, logistics, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process
With medium and long distance UAV TT & C problem is also more paid close attention to.
It is limited by the limitation of communication system, terrestrial communication networks (such as 4G, WiFi) can not be suitable for UAV TT & C and lead
Domain.Channelling mode currently used for UAV TT & C has satellite communication mode and station telecommunication mode.In the market it is most of nobody
Machine all uses station telecommunication mode, and unmanned plane is connect by radio station with console, the disadvantage is that communication distance is limited, generally
No more than 50 kilometers, it is not able to satisfy the observing and controlling of medium and long distance unmanned plane.Small part unmanned plane uses satellite communication mode, unmanned plane
ICBM SHF satellite terminal is carried, console is directly connected to by satellite channel, the disadvantage is that unmanned plane itself is needed to carry ICBM SHF satellite terminal, at
This is high.In addition, most of ICBM SHF satellite terminal volume is big, weight is big, the limited load capacity of unmanned plane need to be occupied；Only a few satellite is whole
Although holding small volume, its bit rate is low, is not able to satisfy figure and passes demand.
During UAV TT & C, due to the uncertainty of wireless channel, sometimes for the base nearest apart from unmanned plane
Station is likely to occur data packetloss, but may be properly received telemetry apart from the farther away base station of unmanned plane, causes unmanned plane
Significant data packet loss influences the quality of unmanned machine information transmission.Mixed base is used to unmanned plane without entity and individual at this stage
It stands cellular communication, the more base station data fusion methods of the unmanned plane cellular communication based on order cycle queue corresponding thereto do not have yet
It occurred.
Summary of the invention
In order to solve the above problems existing in the present technology, it is an object of that present invention to provide one kind to be based on order cycle queue
The more base station data fusion methods of unmanned plane cellular communication, using hybrid base station cellular communication framework, multiple hybrid base stations are common
The telemetry that certain keys are transmitted for same unmanned plane carries out data fusion using order cycle queue, reduces important number
According to packet loss, reduce the time complexity of system.
The technical scheme adopted by the invention is as follows: the more base station datas of unmanned plane cellular communication based on order cycle queue melt
Conjunction method, comprising the following steps:
S1 builds hybrid base station；
S2 constructs cellular communications networks using hybrid base station；
S3, each hybrid base station of each unmanned plane into communication range send telemetry frame, and the telemetry frame includes for nobody
Machine number, telemetering frame number and telemetry；
S4, selected from each hybrid base station several hybrid base stations for being used for transmission Unmanned Aerial Vehicle Data as this nobody
The active base station of machine；
S5, each active base station send the telemetering repeater frame of each unmanned plane to console, and the telemetering repeater frame includes
Unmanned plane number, base station number, telemetering frame number and telemetry；
S6, console receive the telemetering repeater frame that each active base station is sent, N number of for N number of different unmanned plane building
Order cycle queue, and a unmanned plane numbers a corresponding order cycle queue；
The data of telemetering repeater frame are written in corresponding order cycle queue for S7, console；
S8, console are read the data in each order cycle queue；
S9, console receive next telemetering repeater frame, and repeating S7 makes console by the data of all telemetering repeater frames
It is written in corresponding order cycle queue, then repeatedly S8 is read out console to the data in all order cycle queues
Operation, until having read all data.
It is preferred that in S6, the console construct orderly round-robin queue specifically includes the following steps:
S61, console reach queue according to first in, first out criteria construction telemetering repeater frame；
S62, console one telemetering repeater frame of every reception, the telemetering repeater frame reach queue and increase a length；
S63, the Dispatching Unit of console successively reach from the telemetering repeater frame and take out a telemetering repeater frame in queue
It is distributed processing, the processing unit of console is different orderly according to unmanned plane number buildings different in the telemetering repeater frame of distribution
Round-robin queue, the order cycle queue include several message frames, and the message frame includes telemetering frame number and telemetry.
It is preferred that the data of telemetering repeater frame are written in corresponding order cycle queue console in S7
Specifically includes the following steps:
S71 reaches each telemetering repeater frame in queue for telemetering repeater frame, and console obtains in the telemetering repeater frame
Unmanned plane number Num and telemetering frame number No；
S72 locks order cycle queue corresponding to unmanned plane number Num；
S73, judges whether the order cycle queue has expired, if the order cycle queue is less than, enters S74；If this has
Sequence round-robin queue has expired, then the telemetering repeater frame is abandoned, subsequently into S77；
S74 judges whether the telemetering repeater frame is new telemetering repeater frame, if the telemetering repeater frame is not in new telemetering
After frame, then enter S75；If the telemetering repeater frame is new telemetering repeater frame, the rear pointer of the order cycle queue is updated,
New telemetering repeater frame is packaged as new message frame, and is inserted into a upper position for rear pointer in the order cycle queue
Place, subsequently into S77；
S75 judges whether the telemetering repeater frame is overtime, if the telemetering repeater frame has not timed out, enters S76；If the telemetering
Repeater frame has timed, out, then the telemetering repeater frame is abandoned, subsequently into S77；
S76, judges whether the telemetering repeater frame has stored in the order cycle queue, if the telemetering repeater frame is
It is stored in the order cycle queue, then the telemetering repeater frame is abandoned, subsequently into S77；If the telemetering repeater frame does not have at this
It is stored in sequence round-robin queue, then the telemetering repeater frame is packaged as new message frame and be inserted into the order cycle queue；
S77 unlocks the order cycle queue.
It is preferred that in S73, judge the order cycle queue whether full concrete mode are as follows: if HNum-1-
TNum-1=1, then the order cycle queue has been expired, and otherwise the order cycle queue is less than；HNum-1Indicate the order cycle queue
Team's head pointer, TNum-1Indicate the rear pointer of the order cycle queue.
It is preferred that in s 74, judge the telemetering repeater frame whether be new telemetering repeater frame concrete mode
If are as follows: the telemetering frame number of the telemetering repeater frameThen the telemetering repeater frame is new telemetering repeater frame,
Otherwise the telemetering repeater frame is not new telemetering repeater frame；New telemetering repeater frame is packaged as new message frame, and being inserted into this has
Address is (T in sequence round-robin queueNum-1- 1) it is stored at position, whereinLNum-1The table order cycle queue
Length,Indicate the telemetering frame number in the order cycle queue in tail of the queue message frame.
It is preferred that in S75, judge the telemetering repeater frame whether Chao Shi concrete mode are as follows: ifThen the telemetering repeater frame has not timed out, and otherwise the telemetering repeater frame has timed, out；No table
Show the telemetering frame number of the telemetering repeater frame；Indicate that the telemetry frame of tail of the queue message frame in the order cycle queue is compiled
Number；Indicate the telemetering frame number of message frame corresponding to the order cycle queue squadron head pointer.
It is preferred that in s 76, judging what whether the telemetering repeater frame had stored in the order cycle queue
Concrete mode are as follows: be if the telemetering frame number of the telemetering repeater frame is equal to address in the order cycle queueThe telemetering frame number of corresponding message frame, then the telemetering repeater frame has been
It is stored in the order cycle queue, otherwise the telemetering repeater frame does not store in the order cycle queue, while console will
The telemetering repeater frame is packaged as new message frame and is inserted into address in the order cycle queuePosition at stored.
It is preferred that console is read the telemetry in each order cycle queue in S8
Specifically includes the following steps:
S81, judge each order cycle queue whether be it is empty, if the order cycle queue is sky, do not read data；If
The order cycle queue is non-empty, then enters S82；
S82 locks the order cycle queue；
S83, reads message frame corresponding to the order cycle queue squadron head pointer, and by the telemetry frame in the message frame
Number write-back is sky, while it is not empty message that team's head pointer of the order cycle queue, which is directed toward next telemetering frame number,
Frame；
S84 unlocks the order cycle queue.
It is preferred that judging whether each order cycle queue is empty concrete mode are as follows: if this has in S81
Team's head pointer of sequence round-robin queue is identical as rear pointer, then the order cycle queue is sky, and the otherwise order cycle queue is
Non-empty.
It is preferred that in S7 console by the data of telemetering repeater frame be written in corresponding order cycle queue with
Console is read the data in each order cycle queue and concurrently carries out in S8.
The invention has the benefit that
1, the present invention provides a kind of more base station data fusion methods of the unmanned plane cellular communication based on order cycle queue,
By hybrid base station cellular communication, solve the problems, such as that UAV TT & C's range is too small under station telecommunication mode, solves satellite
ICBM SHF satellite terminal problem with high costs under communication pattern, due to without carrying ICBM SHF satellite terminal, relative increase unmanned plane can be with carrying
Lotus amount.
2, the telemetering repeater frame building telemetering repeater frame that console of the invention is sent according to each active base station reaches team
Column reach queue further according to telemetering repeater frame and construct multiple order cycle queues, in the way of the fusion of polyhybird base station data,
It solves the problems, such as the transmission reliability of certain crucial telemetries, reduces the packet loss of significant data, enhance data transmission
Anti-interference, improve the robustness of data receiver.
3, the present invention is based on the data structures of order cycle queue also makes while ensure that data receiver order
It obtains each frame telemetry only to need once to compare frame number in data fusion, reduces time complexity, solve
The time complexity problem of multiple hybrid base station data fusions under multiple no-manned plane scene, and mentioned using team's head, tail of the queue two fingers needle
The speed of high data insertions, reading, enables console accurately and quickly to obtain the telemetry of each unmanned plane.
Detailed description of the invention
Fig. 1 is a kind of more base station data fusion sides of unmanned plane cellular communication based on order cycle queue provided by the invention
The flow chart of method；
Fig. 2 is a kind of more base station data fusion sides of unmanned plane cellular communication based on order cycle queue provided by the invention
The topological diagram of method；
Fig. 3 is a kind of more base station data fusion sides of unmanned plane cellular communication based on order cycle queue provided by the invention
The format description figure of telemetering repeater frame in method；
Fig. 4 is a kind of more base station data fusion sides of unmanned plane cellular communication based on order cycle queue provided by the invention
The explanatory diagram of order cycle queue in method.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.
As shown in Figure 1, present embodiments providing a kind of more base station numbers of the unmanned plane cellular communication based on order cycle queue
According to fusion method, comprising the following steps:
S1, builds M hybrid base station, realizes the communication between hybrid base station and unmanned plane, at the same realize hybrid base station with
Communication between repeater satellite, and then solve the communication between unmanned plane and console.
S2 constructs cellular communications networks using hybrid base station.As shown in Fig. 2, in a cellular communication network, individually to mix
Base station is the center of circle, single hybrid base station can covering radius be 10~250 kilometers of border circular areas, made by rational deployment multiple mixed
It closes base station and covers bigger region, some regions do not cover in order to prevent, and there is intersection in the overlay area between hybrid base station.It utilizes
Hybrid base station cellular communication, signal area coverage is wide, and that improves unmanned plane can observing and controlling range.
S3, each hybrid base station of each unmanned plane into communication range send telemetry frame, and the telemetry frame includes for nobody
Machine number Num, telemetering frame number No and telemetry D.
S4 selects m hybrid base station for being used for transmission Unmanned Aerial Vehicle Data as the unmanned plane from M hybrid base station
Active base station, wherein m≤M.The selection mode of m active base station can be with flexible setting, it is preferable that m active base station is distance
The nearest hybrid base station of unmanned plane.
S5, each active base station send the telemetering repeater frame of each unmanned plane to console, and the telemetering repeater frame includes
Unmanned plane number Num, base station number num, telemetering frame number No and telemetry D, the format of telemetering repeater frame are as shown in Figure 3.
Due to the uncertainty of wireless channel, certain active base stations may not receive the telemetry frame of unmanned plane, then the active base station not to
Console sends telemetering repeater frame.
S6, console receive the telemetering repeater frame that each active base station is sent, N number of for N number of different unmanned plane building
Order cycle queue, and the corresponding order cycle queue of a unmanned plane number Num.
Since the telemetering repeater frame with identical unmanned plane number Num and identical telemetering frame number No is by m active base station
It issues, the channel between each active base station and console do not have synchronism, so having identical unmanned plane number Num and identical
The unordered arrival of telemetering repeater frame of telemetering frame number No；Meanwhile console receives the telemetering relaying with different unmanned planes number
Frame, the telemetering repeater frame also unordered arrival with different unmanned planes number.In order to console can accurately and quickly receive it is N number of
The telemetry of unmanned plane, so using order cycle queue structure.Wherein, the orderly round-robin queue of the console building includes
Following steps:
S61, console reach queue according to first in, first out criteria construction telemetering repeater frame；
S62, console one telemetering repeater frame of every reception, the telemetering repeater frame reach queue and increase a length；
S63, the Dispatching Unit of console successively reach from the telemetering repeater frame and take out a telemetering repeater frame in queue
It is distributed processing, the processing unit of console constructs different according to difference unmanned plane number Num in the telemetering repeater frame of distribution
Order cycle queue, the order cycle queue includes several message frames, the message frame include telemetering frame number No and
Telemetry D.
As shown in figure 4, being reached in queue in telemetering repeater frame, F0Indicate the 1st telemetering repeater frame that console receives,
FiIndicate the i+1 telemetering repeater frame that console receives；By taking k unmanned plane as an example, whereinIndicate k unmanned plane
The i+1 message frame of order cycle queue, the message frame are obtained from the content extraction of telemetering repeater frame, include telemetering frame numberAnd telemetryEtc. information, Hk-1Indicate team's head pointer of k unmanned plane, Tk-1Indicate the tail of the queue of k unmanned plane
Pointer, the length of the round-robin queue of k unmanned plane are Lk-1, withThe address at place is the order cycle queue of k unmanned plane
The initial address S of buffer areak-1, the length of order cycle queue gradually increases, then the order cycle buffer queue of k unmanned plane
The end address in area is Ek-1=Sk-1+Lk-1-1。
Console first constructs telemetering repeater frame and reaches queue, orderly follows further according to the arrival queue building of telemetering repeater frame is multiple
Ring queue, console by polyhybird base station data merge in the way of, solve the transmission reliability of certain crucial telemetries
Problem reduces the packet loss of significant data, enhances the anti-interference of data transmission, improves the robustness of data receiver.
The data of telemetering repeater frame are written in corresponding order cycle queue for S7, console, specifically includes the following steps:
S71 reaches each telemetering repeater frame in queue for telemetering repeater frame, and console obtains in the telemetering repeater frame
Unmanned plane number Num and telemetering frame number No.
S72 locks order cycle queue corresponding to unmanned plane number Num.
S73, judges whether the order cycle queue has expired, if the order cycle queue is less than, enters S74；If this has
Sequence round-robin queue has expired, then the telemetering repeater frame is abandoned, subsequently into S77.
Wherein, judge the order cycle queue whether full concrete mode are as follows: if HNum-1-TNum-1=1, then this is orderly
Round-robin queue has expired, and otherwise the order cycle queue is less than；The unmanned plane for being Num for unmanned plane number, HNum-1Indicate nobody
The team's head pointer for the order cycle queue that machine number is Num, TNum-1Indicate the team for the order cycle queue that unmanned plane number is Num
Tail pointer；
S74 judges whether the telemetering repeater frame is new telemetering repeater frame, if the telemetering repeater frame is not in new telemetering
After frame, then enter S75；If the telemetering repeater frame is new telemetering repeater frame, the rear pointer of the order cycle queue is updated,
New telemetering repeater frame is packaged as new message frame, and is inserted into a upper position for rear pointer in the order cycle queue
Place, subsequently into S77.Wherein, judge the telemetering repeater frame whether be new telemetering repeater frame concrete mode are as follows: if the telemetering
The telemetering frame number N of repeater frameO>Then the telemetering repeater frame is new telemetering repeater frame, otherwise the telemetering repeater frame
It is not new telemetering repeater frame；New telemetering repeater frame is packaged as new message frame, is inserted into address in the order cycle queue and is
(TNum-1- 1) it is stored at position,
LNum-1The length of the table order cycle queue,Indicate the telemetering in the order cycle queue in tail of the queue message frame
Frame number, operator % indicate remainder operation.
S75 judges whether the telemetering repeater frame is overtime, if the telemetering repeater frame has not timed out, enters S76；If the telemetering
Repeater frame has timed, out, then the telemetering repeater frame is abandoned, subsequently into S77；
Wherein, judge the telemetering repeater frame whether Chao Shi concrete mode are as follows: if
Then the telemetering repeater frame has not timed out, and otherwise the telemetering repeater frame has timed, out；
No indicates the telemetering frame number of the telemetering repeater frame；
Indicate the telemetering frame number of tail of the queue message frame in the order cycle queue；
Indicate the telemetering frame number of message frame corresponding to the order cycle queue squadron head pointer；
S76, judges whether the telemetering repeater frame has stored in the order cycle queue, if the telemetering repeater frame is
It is stored in the order cycle queue, then the telemetering repeater frame is abandoned, subsequently into S77；If the telemetering repeater frame does not have at this
It is stored in sequence round-robin queue, then the telemetering repeater frame is packaged as new message frame and be inserted into the order cycle queue.
Wherein, judge the concrete mode whether the telemetering repeater frame has stored in the order cycle queue are as follows: if should
The telemetering frame number of telemetering repeater frame is equal to address in the order cycle queue
The telemetering frame number of corresponding message frame, then the telemetering repeater frame stores in the order cycle queue, and otherwise this is distant
Repeater frame is surveyed not store in the order cycle queue.For the telemetering repeater frame not stored in the order cycle queue, control
The telemetering repeater frame is packaged as new message frame and is inserted into address in the order cycle queue by platform processedPosition at stored.
S77 unlocks the order cycle queue.
S8, console are read the data in each order cycle queue, specifically includes the following steps:
S81, judge each order cycle queue whether be it is empty, if the order cycle queue is sky, do not read data；If
The order cycle queue is non-empty, then enters S82.
Wherein, judge whether each order cycle queue is empty concrete mode are as follows: if team's head of the order cycle queue
Pointer is identical as rear pointer, then the order cycle queue is sky, and otherwise the order cycle queue is non-empty.
S82 locks the order cycle queue；
S83, reads message frame corresponding to the order cycle queue squadron head pointer, and by the telemetry frame in the message frame
Number write-back is sky, while it is not empty message that team's head pointer of the order cycle queue, which is directed toward next telemetering frame number,
Frame；
S84 unlocks the order cycle queue.
S9, console receive next telemetering repeater frame, and repeating S7 makes console by the data of all telemetering repeater frames
It is written in corresponding order cycle queue, then repeatedly S8 is read out console to the data in all order cycle queues
Operation, until having read all data.
Preferably, in S7 console by the data of telemetering repeater frame be written in corresponding order cycle queue with controlled in S8
Platform is read the data in each order cycle queue and concurrently carries out, and improves information transfer efficiency.
The present invention is based on the data structures of order cycle queue, while ensure that data receiver order, but also
Each frame telemetry only needs once to compare frame number in data fusion, reduces time complexity, solves more
The time complexity problem of multiple hybrid base station data fusions under unmanned plane scene, and improved using team's head, tail of the queue two fingers needle
The speed of data insertions, reading, enables the console accurately and quickly to obtain the telemetry of each unmanned plane.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are each under the inspiration of the present invention
The product of kind form.Above-mentioned specific embodiment should not be understood the limitation of pairs of protection scope of the present invention, protection of the invention
Range should be subject to be defined in claims, and specification can be used for interpreting the claims.
Claims (10)
1. the more base station data fusion methods of unmanned plane cellular communication based on order cycle queue, which is characterized in that including following
Step:
S1 builds hybrid base station；
S2 constructs cellular communications networks using hybrid base station；
S3, each hybrid base station of each unmanned plane into communication range send telemetry frame, and the telemetry frame includes that unmanned plane is compiled
Number, telemetering frame number and telemetry；
S4 selects several hybrid base stations for being used for transmission Unmanned Aerial Vehicle Data as the unmanned plane from each hybrid base station
Active base station；
S5, each active base station send the telemetering repeater frame of each unmanned plane to console, and the telemetering repeater frame includes for nobody
Machine number, base station number, telemetering frame number and telemetry；
S6, console receive the telemetering repeater frame that each active base station is sent, N number of orderly for N number of different unmanned plane building
Round-robin queue, and a unmanned plane numbers a corresponding order cycle queue；
The data of telemetering repeater frame are written in corresponding order cycle queue for S7, console；
S8, console are read the data in each order cycle queue；
S9, console receive next telemetering repeater frame, and repeating S7 is written console by the data of all telemetering repeater frames
In corresponding order cycle queue, then repeatedly S8 makes console be read out behaviour to the data in all order cycle queues
Make, until having read all data.
2. the more base station data fusion methods of the unmanned plane cellular communication according to claim 1 based on order cycle queue,
It is characterized in that, in S6, the console construct orderly round-robin queue specifically includes the following steps:
S61, console reach queue according to first in, first out criteria construction telemetering repeater frame；
S62, console one telemetering repeater frame of every reception, the telemetering repeater frame reach queue and increase a length；
S63, the Dispatching Unit of console successively reach from the telemetering repeater frame and take out a telemetering repeater frame progress in queue
The processing unit of distribution processor, console constructs different order cycles according to unmanned plane numbers different in the telemetering repeater frame of distribution
Queue, the order cycle queue include several message frames, and the message frame includes telemetering frame number and telemetry.
3. the more base station data fusion methods of the unmanned plane cellular communication according to claim 2 based on order cycle queue,
It is characterized in that, in S7, console will telemetering repeater frame data be written in corresponding order cycle queue specifically include with
Lower step:
S71 reaches each telemetering repeater frame in queue for telemetering repeater frame, and console obtains the nothing in the telemetering repeater frame
Man-machine number Num and telemetering frame number No；
S72 locks order cycle queue corresponding to unmanned plane number Num；
S73, judges whether the order cycle queue has expired, if the order cycle queue is less than, enters S74；If this is orderly followed
Ring queue has been expired, then the telemetering repeater frame is abandoned, subsequently into S77；
S74 judges whether the telemetering repeater frame is new telemetering repeater frame, if the telemetering repeater frame is not new telemetering relaying
Frame then enters S75；If the telemetering repeater frame is new telemetering repeater frame, the rear pointer of the order cycle queue is updated, it will
New telemetering repeater frame is packaged as new message frame, and is inserted into a upper position for rear pointer in the order cycle queue
Place, subsequently into S77；
S75 judges whether the telemetering repeater frame is overtime, if the telemetering repeater frame has not timed out, enters S76；If the telemetering relays
Frame has timed, out, then the telemetering repeater frame is abandoned, subsequently into S77；
S76, judges whether the telemetering repeater frame has stored in the order cycle queue, if the telemetering repeater frame is at this
It is stored in order cycle queue, then the telemetering repeater frame is abandoned, subsequently into S77；If the telemetering repeater frame does not follow orderly at this
It is stored in ring queue, then the telemetering repeater frame is packaged as new message frame and be inserted into the order cycle queue；
S77 unlocks the order cycle queue.
4. the more base station data fusion methods of the unmanned plane cellular communication according to claim 3 based on order cycle queue,
It is characterized in that, in S73, judge the order cycle queue whether full concrete mode are as follows: if HNum-1-TNum-1, then this has
Sequence round-robin queue has expired, and otherwise the order cycle queue is less than；HNum-1Indicate team's head pointer of the order cycle queue, TNum-1
Indicate the rear pointer of the order cycle queue.
5. the more base station data fusion methods of the unmanned plane cellular communication according to claim 4 based on order cycle queue,
It is characterized in that, in s 74, judge the telemetering repeater frame whether be new telemetering repeater frame concrete mode are as follows: if the telemetering
The telemetering frame number of repeater frameThen the telemetering repeater frame is new telemetering repeater frame, the otherwise telemetering
Repeater frame is not new telemetering repeater frame；New telemetering repeater frame is packaged as new message frame, is inserted into the order cycle queue
Middle address is (TNum-1- 1) it is stored at position, whereinLNum-1The table order cycle queue
Length,Indicate the telemetering frame number in the order cycle queue in tail of the queue message frame.
6. the more base station data fusion methods of the unmanned plane cellular communication according to claim 5 based on order cycle queue,
It is characterized in that, in S75, judge the telemetering repeater frame whether Chao Shi concrete mode are as follows: ifThen the telemetering repeater frame has not timed out, and otherwise the telemetering repeater frame has timed, out；NoTable
Show the telemetering frame number of the telemetering repeater frame；Indicate that the telemetry frame of tail of the queue message frame in the order cycle queue is compiled
Number；Indicate the telemetering frame number of message frame corresponding to the order cycle queue squadron head pointer.
7. the more base station data fusion methods of the unmanned plane cellular communication according to claim 6 based on order cycle queue,
It is characterized in that, in s 76, judging the concrete mode whether the telemetering repeater frame has stored in the order cycle queue
If are as follows: the telemetering frame number of the telemetering repeater frame is equal to address in the order cycle queue and isThe telemetering frame number of corresponding message frame, then the telemetering repeater frame has been
It is stored in the order cycle queue, otherwise the telemetering repeater frame does not store in the order cycle queue, while console will
The telemetering repeater frame is packaged as new message frame and is inserted into address in the order cycle queuePosition at stored.
8. the more base station data fusion methods of the unmanned plane cellular communication according to claim 3 based on order cycle queue,
It is characterized in that, in S8, console the telemetry in each order cycle queue is read specifically include with
Lower step:
S81, judge each order cycle queue whether be it is empty, if the order cycle queue is sky, do not read data；If this has
Sequence round-robin queue is non-empty, then enters S82；
S82 locks the order cycle queue；
S83, reads message frame corresponding to the order cycle queue squadron head pointer, and by the telemetering frame number in the message frame
Write-back is sky, while it is not empty message frame that team's head pointer of the order cycle queue, which is directed toward next telemetering frame number,；
S84 unlocks the order cycle queue.
9. the more base station data fusion methods of the unmanned plane cellular communication according to claim 8 based on order cycle queue,
It is characterized in that, judging whether each order cycle queue is empty concrete mode are as follows: if the order cycle queue in S81
Team's head pointer it is identical as rear pointer, then the order cycle queue be sky, otherwise the order cycle queue be non-empty.
10. the more base station data fusion methods of the unmanned plane cellular communication according to claim 1 based on order cycle queue,
It is characterized in that, in S7 console by the data of telemetering repeater frame be written in corresponding order cycle queue with console in S8
Data in each order cycle queue are read and are concurrently carried out.
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