CN110996279B - Multipath parallel transmission data scheduling method and system applied to unmanned aerial vehicle communication - Google Patents
Multipath parallel transmission data scheduling method and system applied to unmanned aerial vehicle communication Download PDFInfo
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Abstract
The invention discloses a multipath parallel transmission data scheduling method and system applied to unmanned aerial vehicle communication. A sending end packs data packets to be sent into a plurality of data packets and marks globally unique serial numbers for the data packets; and estimating the throughput of each data transmission channel by taking the ACK packet fed back by the receiving end after the data packets with the set number are sent as an estimation period, calculating the time of each data transmission channel reaching the receiving end after the data packets are sent according to the throughput estimation condition, and distributing the data packets to the data transmission channel which reaches the receiving end most quickly, so that the receiving end receives the data packets as sequentially as possible. The method and the device avoid the problem of low throughput of the transmission channel caused by buffer blocking of the receiving end, effectively utilize the advantages of a plurality of data transmission channels, and improve the data transmission rate of the unmanned aerial vehicle communication multi-channel parallel channel.
Description
Technical Field
The invention relates to a multipath parallel transmission data scheduling method and system applied to unmanned aerial vehicle communication, and belongs to the technical field of unmanned aerial vehicle communication.
Background
With the development of science and technology, the application field of the unmanned aerial vehicle is more and more extensive. From military reconnaissance, agricultural seeding, to logistics distribution, aerial photography technologies, unmanned aerial vehicles play incomparable advantages in more and more fields. Therefore, the research on the unmanned aerial vehicle needs to be deeper, and the technical breakthrough is realized so as to adapt to the increasing market demand. When the unmanned aerial vehicle is applied to exploration and investigation work, a high-speed data transmission channel is often required to be constructed, and the traditional single-chip data transmission is often difficult to support a high-speed transmission scene. How to integrate a plurality of radio frequency chips in same main control unit is the desideratum in the unmanned aerial vehicle field.
In the multi-path parallel transmission process of the unmanned aerial vehicle, due to the difference of the positions, postures, transmission modes and transmission frequencies of the radio-frequency antennas of the transmission channels, the round-trip delay and the throughput of the transmission channels may have great difference. If the traditional method for sequentially sending the data packets in sequence is used, the data packets may arrive at the receiving end out of sequence due to long transmission delay of a transmission channel with poor performance, and further buffer blockage of the receiving end is caused, so that the unmanned aerial vehicle cannot effectively utilize each transmission channel to improve the data transmission rate. Therefore, how to design an effective data scheduling mechanism to solve the problem of low data transmission rate of unmanned aerial vehicle communication multipath parallel transmission is very important.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above deficiencies of the prior art, the present invention provides a method and a system for scheduling multiple parallel transmission data for unmanned aerial vehicle communication. And simultaneously controlling a plurality of radio frequency chips by using the main controller so as to realize multi-channel parallel transmission. The throughput of each transmission channel is estimated in real time according to the transmission delay, the data scheduling algorithm is used for calculating the delay from each transmission channel to the receiving end after the data packet is sent, and the data packet is distributed to the path with the minimum delay, so that the receiving end receives the data packet as far as possible in sequence, and the communication data transmission speed of the unmanned aerial vehicle is improved.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a multipath parallel transmission data scheduling method applied to unmanned aerial vehicle communication is characterized in that: in the method, a main controller at a remote control end and an unmanned aerial vehicle end of an unmanned aerial vehicle communication system respectively controls a plurality of radio frequency chips simultaneously, the radio frequency chips of a transmitting side and the radio frequency chips of a receiving side correspond to the radio frequency chips of the receiving side and the receiving side one to one, a plurality of data transmission channels are formed, and multi-channel parallel transmission is realized, the method comprises the following steps:
(1) a sending end packs data packets to be sent into a plurality of data packets and marks globally unique serial numbers for the data packets;
(2) the sending end receives ACK packets fed back by the receiving end after sending a set number of data packets as an estimation period according to a formula
Estimating the throughput of each data transmission channel; wherein EnIs the result of the nth estimate of the throughput of a certain data transmission channel, En-1Is the result of the (n-1) th estimation of the throughput of a certain data transmission channel, MnIs the total number of data packets transmitted in the estimated period of the nth estimation, TnIs the time interval from the time when the sending end sends the first data packet to the time when the ACK packet is received in the estimation period, MnAnd TnIs the instantaneous throughput of the data transmission channel in the estimation period, alpha is a smoothing factor, alpha is along with the time interval TnIs increased with decreasing time interval TnIs increased and decreased;
(3) the sending end calculates the time of the data packet arriving at the receiving end according to the throughput estimation condition of each data transmission channel and the number of the distributed data packets, and distributes the data packets to the data transmission channel which can enable the data packet to arrive at the receiving end earliest;
(4) and each data transmission channel sequentially transmits the distributed data packets, the receiving end integrates the received data packets according to the serial number, and the transmitting end adjusts the distribution condition of the data packets according to the ACK packet condition fed back by the receiving end.
In a preferred embodiment, the remote control end and the main controller at the unmanned aerial vehicle end control a plurality of radio frequency chips through the serial peripheral interface SPI, and different data transmission channels use different transmission modes or transmission frequencies to perform one-to-one communication, so as to achieve communication states that are independent of each other and do not interfere with each other.
In a preferred embodiment, in step (1), for a data packet to be sent, which is a data packet with an equal byte length, the sending end adds a header including a check bit, a flag bit, a window size, and a version number content, and marks a globally unique sequence number.
In a preferred embodiment, the value of the smoothing factor α is calculated in said step (2) by the following formula:
where k is a constant and the smoothing factor alpha is a function of the time interval TnThe estimation result is increased by decreasing the instantaneous throughput so as to reduce the influence of the instantaneous throughput on the estimation result and improve the stability of the estimation result; smoothing factor alpha over time interval TnThe estimation result is enhanced by increasing and decreasing the estimation result, so that the influence of the instantaneous throughput on the estimation result is enhanced, and the real-time property of the result is improved.
In a preferred embodiment, in the step (3), the sending end calculates, according to the estimation of the throughput of each data transmission channel and in combination with the number of the data packets already allocated to each path, the time for the data packets to be allocated to reach the receiving end through each data transmission channel, and allocates the data packets to be allocated to different data transmission channels; data transmission path in which data packets to be distributed are selected
The algorithm of (a) is expressed as:
where N is the number of data transmission channels, SxThe number of data packets allocated on the data transmission channel x but not acknowledged, ExFor the most recent estimated throughput, t, on the data transmission channel xxThe time when the path throughput is calculated for the latest ACK packet received on the data transmission channel x, that is, the latest ACK packet received on the data transmission channel x.
In a preferred embodiment, in the step (4), the data transmission channels are independent from each other and sequentially transmit the allocated data packets, and each radio frequency chip at the receiving end feeds back the receiving condition through an ACK packet after receiving a series of data packets; if some data packet needs to be retransmitted due to receiving overtime or receiving error, the transmitting end preferentially transmits the data packet, namely the data packet is distributed to a data transmission channel which can reach the receiving end firstly to transmit data, and the scheduling priorities of other data packets are sequentially delayed.
A multipath parallel transmission data scheduling system applied to unmanned aerial vehicle communication comprises a remote control end and an unmanned aerial vehicle end and is used for realizing the multipath parallel transmission data scheduling method applied to unmanned aerial vehicle communication, a main controller of the remote control end and the unmanned aerial vehicle end respectively controls a plurality of radio frequency chips at the same time, and the radio frequency chips of a transmitting side and a receiving side correspond to each other one by one to form a plurality of data transmission channels so as to realize multichannel parallel transmission;
when the remote control end or the unmanned aerial vehicle end is used as a sending end, the remote control end or the unmanned aerial vehicle end is used for grouping and packaging data to be sent into a plurality of data packets and marking globally unique serial numbers for the data packets; taking ACK packets fed back by a receiving end after sending a set number of data packets as an estimation period according to a formula
Estimating the throughput of each data transmission channel; calculating the time of the data packet arriving at the receiving end according to the throughput estimation condition of each data transmission channel and the number of the distributed data packets, and distributing the data packets to the data transmission channels which can enable the data packets to arrive at the receiving end earliest; each data transmission channel sequentially transmits the distributed data packets, and the distribution condition of the data packets is adjusted according to the ACK packet condition fed back by the receiving end;
and when the remote control end or the unmanned aerial vehicle end is used as a receiving end, the remote control end or the unmanned aerial vehicle end is used for feeding back the ACK packets after receiving the data packets with the set number and integrating the received data packets according to the sequence number.
Has the advantages that: compared with the prior art, the invention has the advantages that: by using the multi-channel parallel transmission method described by the invention, a plurality of radio frequency chips are simultaneously controlled on the main controller, and the data transmission rate can be obviously improved. The data scheduling mechanism described in the invention estimates the throughput of each transmission channel in real time according to the transmission delay, calculates the time of each transmission channel for sending the data packet to the receiving end, and distributes the data packet to the fastest data transmission channel for reaching the receiving end, so that the receiving end receives the data packet in sequence as much as possible, the problem of low throughput of the transmission channels caused by buffer blockage of the receiving end is avoided, the advantages of a plurality of data transmission channels are effectively utilized, and the data transmission rate of the multi-path parallel channel of unmanned aerial vehicle communication is improved.
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FIG. 1 is a system model diagram of a scheduling method of multiple parallel transmission data according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for scheduling multiple parallel transmission data according to an embodiment of the present invention;
fig. 3 is a diagram of an operation model of a scheduling module for multipath parallel transmission data according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1, the system model diagram of the multipath parallel transmission data scheduling method is a system model diagram, and the multipath parallel transmission data scheduling system applied to the communication of the unmanned aerial vehicle disclosed in the embodiment of the present invention includes a remote control end and an unmanned aerial vehicle end. In order to realize the multi-path parallel transmission method, the specific requirements are as follows: the remote control end and the unmanned aerial vehicle end are respectively provided with a main controller. The main controllers of the transceiver and the receiver distribute data packets to each data transmission channel through the data scheduling module, the serial peripheral interface SPI controls the plurality of radio frequency chips, and different data transmission channels use different transmission modes or transmission frequencies to carry out one-to-one communication so as to achieve independent and non-interfering communication states, realize multi-channel parallel data transmission and improve the data transmission efficiency.
As shown in fig. 2, a schematic flow chart of a method for scheduling multiple paths of parallel transmission data specifically includes: a sending end mainly packs data packets to be sent into a plurality of data packets and marks globally unique serial numbers for the data packets; a data scheduling module of the sending end estimates the throughput according to the past throughput and the instantaneous throughput of each data transmission channel; distributing the data packets to different data transmission channels by calculating the time of the data packets arriving at a receiving end; the data transmission channels are independent of each other and sequentially send distributed data packets, and each radio frequency chip at the receiving end feeds back the receiving condition through an ACK packet after receiving a series of data packets. If some data packet needs to be retransmitted due to receiving overtime or receiving error, the transmitting end preferentially transmits the data packet, namely the data packet is allocated to a data transmission channel which can reach the receiving end firstly through the data scheduling module to transmit data, and the scheduling priorities of other data packets are sequentially delayed. And the receiving end integrates the received data according to the serial number of each data packet.
As shown in fig. 3, it is a working model diagram of a multi-path parallel transmission data scheduling module, specifically: the data scheduling module estimates the throughput of each data transmission channel, and takes the ACK packet fed back by the receiving end after transmitting ten data packets as an estimation period, wherein the number of the data packets transmitted in the estimation period can be set in the system as required, and the total number of the data packets transmitted in the estimation period is MnThe time interval from the time when the sending end sends the first data packet to the time when the sending end receives the ACK packet in the estimation period is Tn. After receiving the ACK packet in each estimation period, the throughput of the data transmission channel is estimated once according to the following formula.
Wherein EnIs the result of the nth estimate of the throughput of a certain data transmission channel, MnAnd TnIs the instantaneous throughput of the data transmission channel in the estimation period, and alpha is a smoothing factor, and the value of alpha is calculated by the following formula.
Where k is a constant and the smoothing factor alpha is a function of the time interval TnIs increased to reduce the instantaneous swallowingThe influence of the output quantity on the estimation result improves the stability of the estimation result; smoothing factor alpha over time interval TnThe estimation result is enhanced by increasing and decreasing the estimation result, so that the influence of the instantaneous throughput on the estimation result is enhanced, and the real-time property of the result is improved.
And the data scheduling module calculates the time for the data packets to be distributed to reach a receiving end through each data transmission channel according to the estimation of the throughput of each data transmission channel and the number of the distributed data packets of each channel, and distributes the data packets to be distributed to different data transmission channels. The following formula illustrates the data transmission path for selecting the data packet to be distributed
The algorithm of (1):
where N is the number of data transmission channels, SxThe number of data packets allocated on the data transmission channel x but not acknowledged, ExFor the most recent estimated throughput, t, on the data transmission channel xxThe time when the path throughput is calculated for the latest ACK packet received on the data transmission channel x, that is, the latest ACK packet received on the data transmission channel x. By using the data scheduling algorithm, the data packets can reach the receiving end as sequentially as possible, and the problem of low data transmission efficiency caused by buffer blocking of the receiving end is reduced.
The data transmission channels are independent of each other and sequentially send distributed data packets, and each radio frequency chip at the receiving end feeds back the receiving condition through an ACK packet after receiving a series of data packets. If some data packet needs to be retransmitted due to receiving overtime or receiving error, the main controller of the transmitting end preferentially transmits the data packet, namely the data packet is allocated to a data transmission channel which can reach the receiving end firstly through the data scheduling module to transmit data, and the scheduling priorities of other data packets are sequentially delayed. And the receiving end main controller integrates the received data according to the serial number of each data packet.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.
Claims (7)
1. A multipath parallel transmission data scheduling method applied to unmanned aerial vehicle communication is characterized in that: in the method, a main controller at a remote control end and an unmanned aerial vehicle end of an unmanned aerial vehicle communication system respectively controls a plurality of radio frequency chips simultaneously, the radio frequency chips of a transmitting side and the radio frequency chips of a receiving side correspond to the radio frequency chips of the receiving side and the receiving side one to one, a plurality of data transmission channels are formed, and multi-channel parallel transmission is realized, the method comprises the following steps:
(1) a sending end packs data packets to be sent into a plurality of data packets and marks globally unique serial numbers for the data packets;
(2) the sending end receives ACK packets fed back by the receiving end after sending a set number of data packets as an estimation period according to a formula
Estimating the throughput of each data transmission channel; wherein EnIs the result of the nth estimate of the throughput of a certain data transmission channel, En-1Is the result of the (n-1) th estimation of the throughput of a certain data transmission channel, MnIs the total number of data packets transmitted in the estimated period of the nth estimation, TnIs the time interval from the time when the sending end sends the first data packet to the time when the ACK packet is received in the estimation period, MnAnd TnIs the instantaneous throughput of the data transmission channel in the estimation period, alpha is a smoothing factor, alpha is along with the time interval TnIs increased with decreasing time interval TnIs increased and decreased;
(3) the sending end calculates the time of the data packet arriving at the receiving end according to the throughput estimation condition of each data transmission channel and the number of the distributed data packets, and distributes the data packets to the data transmission channel which can enable the data packet to arrive at the receiving end earliest;
(4) and each data transmission channel sequentially transmits the distributed data packets, the receiving end integrates the received data packets according to the serial number, and the transmitting end adjusts the distribution condition of the data packets according to the ACK packet condition fed back by the receiving end.
2. The method for scheduling the multi-path parallel transmission data applied to the unmanned aerial vehicle communication according to claim 1, wherein: the remote control end and the main controller of the unmanned aerial vehicle end control a plurality of radio frequency chips through the serial peripheral interface SPI, different data transmission channels use different transmission modes or transmission frequencies to carry out one-to-one communication, and therefore independent and non-interfering communication states are achieved.
3. The method for scheduling the multi-path parallel transmission data applied to the unmanned aerial vehicle communication according to claim 1, wherein: in the step (1), the sending end adds a header including check bits, flag bits, window size, version number content and marks a globally unique serial number to a data packet with the same byte length to be sent.
4. The method for scheduling the multi-path parallel transmission data applied to the unmanned aerial vehicle communication according to claim 1, wherein: in the step (2), the value of the smoothing factor α is calculated by the following formula:
where k is a constant and the smoothing factor alpha is a function of the time interval TnThe estimation result is increased by decreasing the instantaneous throughput so as to reduce the influence of the instantaneous throughput on the estimation result and improve the stability of the estimation result; smoothing factor alpha over time interval TnThe estimation result is enhanced by increasing and decreasing the estimation result, so that the influence of the instantaneous throughput on the estimation result is enhanced, and the real-time property of the result is improved.
5. The multi-path parallel transmission data scheduling applied to unmanned aerial vehicle communication according to claim 1The method is characterized in that: in the step (3), the sending end calculates the time for the data packets to be distributed to reach the receiving end through each data transmission channel according to the estimation of the throughput of each data transmission channel and the number of the distributed data packets of each channel, and distributes the data packets to be distributed to different data transmission channels; data transmission path in which data packets to be distributed are selected
The algorithm of (a) is expressed as:
where N is the number of data transmission channels, SxThe number of data packets allocated on the data transmission channel x but not acknowledged, ExFor the most recent estimated throughput, t, on the data transmission channel xxThe time when the path throughput is calculated for the latest ACK packet received on the data transmission channel x, that is, the latest ACK packet received on the data transmission channel x.
6. The method for scheduling the multi-path parallel transmission data applied to the unmanned aerial vehicle communication according to claim 1, wherein: in the step (4), the data transmission channels are independent from each other and sequentially transmit the distributed data packets, and each radio frequency chip at the receiving end feeds back the receiving condition through an ACK packet after receiving a series of data packets; if some data packet needs to be retransmitted due to receiving overtime or receiving error, the transmitting end preferentially transmits the data packet, namely the data packet is distributed to a data transmission channel which can reach the receiving end firstly to transmit data, and the scheduling priorities of other data packets are sequentially delayed.
7. The utility model provides a multichannel parallel transmission data scheduling system for unmanned aerial vehicle communication, includes remote control end and unmanned aerial vehicle end, its characterized in that: the system is used for realizing the multi-path parallel transmission data scheduling method applied to unmanned aerial vehicle communication according to any one of claims 1 to 6, and the remote control end and the unmanned aerial vehicle are in communication with each otherThe end main controller respectively controls a plurality of radio frequency chips at the same time, the radio frequency chips of the receiving and transmitting sides correspond to each other one by one to form a plurality of data transmission channels so as to realize multi-channel parallel transmission; when the remote control end or the unmanned aerial vehicle end is used as a sending end, the remote control end or the unmanned aerial vehicle end is used for grouping and packaging data to be sent into a plurality of data packets and marking globally unique serial numbers for the data packets; taking ACK packets fed back by a receiving end after sending a set number of data packets as an estimation period according to a formula
Estimating the throughput of each data transmission channel; calculating the time of the data packet arriving at the receiving end according to the throughput estimation condition of each data transmission channel and the number of the distributed data packets, and distributing the data packets to the data transmission channels which can enable the data packets to arrive at the receiving end earliest; each data transmission channel sequentially transmits the distributed data packets, and the distribution condition of the data packets is adjusted according to the ACK packet condition fed back by the receiving end; and when the remote control end or the unmanned aerial vehicle end is used as a receiving end, the remote control end or the unmanned aerial vehicle end is used for feeding back the ACK packets after receiving the data packets with the set number and integrating the received data packets according to the sequence number.
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| CN112689268B (en) * | 2020-12-21 | 2022-09-06 | 一飞(海南)科技有限公司 | Method and system for improving multi-route data transmission efficiency by formation unmanned aerial vehicle networking |
| CN113253292B (en) * | 2021-05-17 | 2024-02-09 | 湖北怡辉河天科技有限公司 | Unmanned aerial vehicle early warning processing method and system based on artificial intelligence technology |
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