CN111935533B - Multi-source measurement and control data playback method for unmanned aerial vehicle - Google Patents
Multi-source measurement and control data playback method for unmanned aerial vehicle Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/432—Content retrieval operation from a local storage medium, e.g. hard-disk
- H04N21/4325—Content retrieval operation from a local storage medium, e.g. hard-disk by playing back content from the storage medium
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client
- H04N21/65—Transmission of management data between client and server
- H04N21/658—Transmission by the client directed to the server
- H04N21/6587—Control parameters, e.g. trick play commands, viewpoint selection
Abstract
The invention discloses an unmanned aerial vehicle multi-source measurement and control data playback method which comprises a user control module, a storage module and a playback module, wherein a user control end receives user operation and sends various control messages to the storage module and the playback module, the storage module receives instruction messages of the user control end, receives IP messages sent by a plurality of data sources of an unmanned aerial vehicle and stores the IP messages into different files according to ports, the playback module receives the instruction messages of the user control end, reads the files stored by the storage module to form a plurality of message lists, and sends the different lists to a specified IP and a specified port according to high time precision. The invention is suitable for storing multi-path IP messages in the unmanned aerial vehicle measurement and control scene and replaying historical time afterwards, supports the accuracy of passing time and realizes scene reconstruction and historical condition interpretation in strict sequence. The invention supports multiple playbacks.
Description
Technical Field
The invention designs a high-precision time synchronization playback method for multisource measurement and control data of an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle application.
Background
Under some complex scenes applied by the unmanned aerial vehicle, the airborne terminal downlink transmits a plurality of different data sources to the ground station in real time, the data sources have different receivers, the content of messages is related, and the causal or dependency relationship, such as the telemetering information, the forward-looking camera, the photoelectric load information and the radar detection information of the unmanned aerial vehicle, is related. After the flight of the unmanned aerial vehicle is finished, data messages of historical events which have occurred often need to be replayed for multiple purposes of verifying task execution conditions, finding problems, repeating faults, confirming and eliminating faults, performing targeted analysis of technology improvement, optimizing a system and the like, and therefore recording and replaying of the events often need to be performed.
In most current applications, the capture and playback of an audio-visual data stream is common. In a complex application scenario, a plurality of devices may send their own data to a storage processing device, which has a storage function. In the subsequent scene reproduction, in order to ensure the accuracy, the playback time of the multi-source historical data needs to be accurately synchronized, so that the scenes and the phenomena of each source are observed according to the sequence of time, and the logical relationship and the structural correlation among the data in the scenes are restored and reconstructed. The structural correlation between scene data including pictures, videos, and the like can be observed in detail by a pause mode at the time of playback.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a method for storing multisource network messages of an unmanned aerial vehicle and replaying high-time precision multiple data sources.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an unmanned aerial vehicle multisource observes and controls data playback method, includes user control module, storage module and playback module, user control module is connected with storage module and playback module respectively, storage module and playback module are connected, wherein:
the user control module provides an operation interface for a user and sends a control command to the storage module and the playback module to control the storage module and the playback module, and a control method of the user control module (the following messages can be sent in the operation interface) is as follows:
step a1, start forwarding messages: the message is sent by the user control module to each storage thread of the storage module. The message comprises: local IP, local interception port, receiver IP, receiver port. The function of the message is to ask the message recipient storage thread to receive data at the local listening port of the local IP and immediately forward to the recipient port of the recipient IP. For convenience of description, the memory thread is referred to as a memory thread of the local port.
Step a2, beginning to store the message, the parameters carried include: the message is sent to a storage thread of each local interception port, and all data received by the local IP and the local interception port are required to be added with a timestamp (the time is accurate to ms) and then stored in the appointed storage file name.
Step a3, end store message: and the message is sent to a storage thread without carrying parameters, and the storage thread does not store data after receiving the message.
Step a4, begin playback of the message, carrying parameters: (a) playback history time point THistory, (b) playback local time point TLocal, (c) storage file name, (d) IP address and port number of the receiver. The message is sent to a playback thread, which reads historical data from a storage file to obtain a historical message list and sends the message to the IP address/port of the receiver in sequence according to the thread/TLocal parameter.
Step a5, pause playback of the message, without carrying parameters: and after the playback thread receives the instruction, the playback is suspended.
Step a6, continuing to play back the message, carrying parameters: (a) playback history time point THistory, (b) playback local time point TLocal. And after the playback thread receives the message, starting playback of the history message of the history time point Thistory at the future playback local time TLocal.
Step a7, dragging the playback message, carrying parameters: (a) playing back the history message of the history time point, through (b) playing back the history message of the history time point, after the local playback thread receives the history message, starting playing back the history message of the history time point, through TLocal.
Step A8, ending playback of the message, without carrying parameters: and after receiving the instruction, the playback thread finishes playback.
The storage module receives a message of multi-source data of the unmanned aerial vehicle and stores the message into a file, the storage module comprises a plurality of storage threads, each storage thread works independently, and the storage method of the storage module is as follows:
step B1, message forwarding: after receiving the message, the storage thread firstly determines the IP of the receiver according to the IP of the sender and the receiving port, and forwards the message to the receiver.
Step B2, the process starts storing the message: after receiving a storage starting message sent by a user control module, constructing a storage starting port message, sending the message to a storage thread, monitoring the message by the storage thread on an IP address and a port specified by the storage thread, and recording the message after receiving the message. The specific record content includes (a) the original time of the message (accurate to milliseconds) and (b) the message content, and then both (a) and (b) items are saved to the file of the port.
Step B3, the process ends storing the message: and after receiving a storage ending message sent by the user control terminal, the storage module stores all the received contents which are not stored into the file and closes the file.
The playback module is controlled by the user control module to realize the playback function of the messages in the stored files, and support the functions of starting playback, pausing playback, continuing playback and dragging playback, and stopping playback, the playback module comprises a plurality of playback threads, and is used for synchronizing the stored message data with high precision time and sending the synchronized data to the appointed IP/port number, and the playback method of the playback module is as follows:
and step C1, after the playback thread receives the message for starting playback sent by the user control end, starting the state machine to perform playback operation.
And step C2, after receiving the messages of pause playback, continuous playback and stop playback sent by the user control end, the playback thread forwards the messages to the playback thread for processing.
The key function of the module is to realize that a plurality of network message lists are sent to a receiving party strictly according to the time sequence (the precision is 1 millisecond).
Compared with the prior art, the invention has the following beneficial effects:
(1) the multi-source messages stored in different sources and different time periods related to the unmanned aerial vehicle are ensured, and the synchronous playback method with high time precision is provided.
(2) The state machine adopts a state waiting for synchronization, so that the state machines of all playback threads are ensured to be strictly synchronized in time (with precision in millisecond level) during playback, and the synchronous realization of playback messages is ensured.
(3) The realization of drag and drop is supported in the process of message playback, so that a user is allowed to have greater operation freedom, and the user experience is improved.
(5) The invention is particularly suitable for the scene of unmanned aerial vehicle communication, different data sources on the unmanned aerial vehicle generate different types of data messages, and the requirements on the cooperativity in time and frequency are not met. At this time, the method provided by the invention is used for playback, and the original message sequence with strictly synchronous time sequence and interval can be completely presented.
(6) The invention can provide the capability of supporting the synchronous playback of the multi-source data for the existing module which does not support the synchronous playback capability of the multi-source data.
Drawings
FIG. 1 is a schematic diagram of the system components;
FIG. 2 is a schematic diagram of a memory module;
FIG. 3 is a schematic view of a playback module;
FIG. 4 is a schematic diagram of a playback state machine;
FIG. 5 is a playback timer flow diagram;
FIG. 6 is a timeline illustration of composition between playback threads;
FIG. 7 is a use case configuration diagram.
Detailed Description
The present invention is further illustrated in the accompanying drawings and described in the following detailed description, it is to be understood that such examples are included solely for the purposes of illustration and are not intended as a definition of the limits of the invention, since various equivalent modifications of the invention will become apparent to those skilled in the art after reading the present specification, and it is intended to cover all such modifications as fall within the scope of the invention as defined in the appended claims.
An unmanned aerial vehicle multi-source measurement and control data playback method is disclosed in the embodiment of the method, as shown in fig. 1, of the multi-source data playback mechanism with high time precision of an unmanned aerial vehicle, and the multi-source data playback mechanism mainly comprises a user control module, a storage module and a playback module.
1.1, Overall
As shown in connection with fig. 1, a server is between the multiple drone data sources and the receiving client. The server comprises a user control module, a storage module and a playback module. The storage module comprises a plurality of storage threads, and can intercept a plurality of ports to realize forwarding and storage functions. The playback module comprises a plurality of playback threads, can read a plurality of files stored in the storage module at the same time to obtain message content and message time, and then sends the message to the receiving client according to the message time.
For ease of illustration, the parameters in the setup system are shown in FIG. 7:
there may be multiple network cards in the server. In fig. 7, three IP addresses 192.168.3.55, 192.168.7.66, 17.13.5.33 are configured in the server. Listen on port3000,3200,11200, respectively, and ask for the received message to be forwarded to 192.168.3.155:3001, 192.168.7.166:3201 and 17.13.5.133:11201.
Similarly, the playback module is required to playback the stored messages to 192.168.3.155:3001, 192.168.7.166:3201, and 17.13.5.133:11201.
1.2, Forwarding function
After the server is powered on, the forwarding function of the storage module needs to be started. The control module automatically sends a forwarding starting message to the storage thread group according to the configuration data of the control module, wherein the message carries contents including: local IP, local port, receiver IP, receiver port. In this example, the contents of the start forward message sent to memory thread 1/2/3 are, in order:
[(192.168.1.55:3000,192.168.3,155:3001),
(192.168.7.166:3200,192.168.7.166:3201),
(17.13.5.33:11200,17.13.5.133:11201)].
after the storage thread receives the message, the designated port number is intercepted, data is received, the IP and the port number of the receiver are determined according to the IP and the receiving port number of the receiver, and the message is forwarded to the IP and the receiving port number of the receiver.
For example, in this example, storage thread 1 receives data on UDP port3000 at local IP address 192.168.1.55 and immediately forwards the received data to 3001 port 192.168.1.155.
1.3, storage function
As shown in fig. 2, when the user thinks that the storage is needed, the user operates the user control module interface to send a message for starting storage to the storage module.
In this example, the message for starting to store the message, which is received by the storage thread 1, carries the following parameters:
(192.168.1.55:3000,port3000.data)
the parameters are preceded by a local IP address and a port number, and port3000.data is a file name, which indicates that data received by the storage thread 1 at 192.168.1.55:3000 needs to be saved in the file.
And after the storage thread 1 receives the message, the specified port is continuously monitored, the received message is transmitted, a timestamp is added to the message, and the message is stored in a specified port3000.data file.
And the user control module sends a storage ending message to the storage module, wherein the message does not carry parameters. And after the storage module receives the data, all the storage threads finish monitoring the port data and store the data into a specified file.
1.4, playback procedure
Referring to fig. 3, after the user control module finishes storing, if data playback is required, a message for starting playback is sent to the playback module. All playback history times, Thistory, in the message are the same, as are the parameter playback local times, Tlocal. Tlocal is some point in time in the future (e.g., the current time is delayed by 10 seconds). In this example, the other parameters of the playback start message received by the playback thread 1/2/3 are, in order:
1. file name is Port3000.data, and destination IP/Port is 192.168.3.155:3001.
2. File name is Port3200.data, and destination IP/Port is 192.168.7.66:3201.
3. File name is Port11200.data, and destination IP/Port is 17.13.5.133:11201.
Referring to fig. 4, if the replay thread receives a message to start replay, the started state machine transitions to a wait for synchronization state.
1,5, State machine description
The state machine used is described in connection with fig. 4. The playback thread is initially in an idle state. When a message for starting message playback is received, data reading is started from a specified file, the history time point of playback is set, the local time point of playback is set, a playback timer TmrPlay is started, and the system is shifted to a synchronous waiting state to wait for the local system time to reach the local time point.
In the wait synchronization state, the timer TmrPlay times out and detects the system time, which is denoted as Tnow. If Tnow > TLocal is detected, the system time is considered to have reached Tlocal and needs to be played back, the state machine transitions to a playback going state and commands
THistory＝THistory+(Tnow-Tlocal).
If the thread is found to exceed the recording time of the message to be played back, the message is sent to a specified IP address/port, and the playback operation of the message is executed.
In the playback progress state, if a pause message is received by the playback thread, the playback thread pauses the TmrPlay and transitions to the pause state.
In the playback progress state, if the playback thread receives a message of dragging playback, according to the message content, setting the history time point of playback, the local time point of playback, migrating to the waiting synchronization state, and waiting for the system time to reach TLocal.
In the playback progress state, if the playback thread detects that all the data to be played back is empty, it means that the data playback is completed, and the playback thread transitions to the playback completion state.
In the pause state, if a message for continuing playback is received, according to the message parameters, setting threshold as a playback history time point, and TLocal as a local time point, starting a playback timer TmrPlay, and transitioning to a wait synchronization state to wait for local system time to reach TLocal.
In all states, if a message to stop playback is received, the state machine transitions to an idle state.
1.6, in connection with FIG. 6 (multithread synchronization description)
With reference to fig. 6, a time axis manner is described to describe how state machines of multiple playback threads work synchronously in a playback process of a multi-source message, so that message times of all playback threads are consistent.
Assume that the message recording time of the message list 1 played back by the playback thread 1 starts from H1 to T1 ends, and the message recording time of the message list 2 played back by the playback thread 2 starts from H2 to T2 ends. Suppose H1> H2> T1> T2.
The playback thread group receives a playback start message sent by the user control terminal, wherein the playback local time point carried by the playback thread group is TLocal. The playback history time point is thiesory. Let Δ T ═ TLocal-tlistory be a fixed value. At this time, the state of the playback thread group is switched from the idle state to the wait synchronization state, and TLocal is a future time point, and the time length is enough to read all files from the storage file, and the requirement is accurate to ms.
After each thread in the thread group receives the playback starting message of different parameters, reading the storage file specified in the parameters, and establishing a message list to be played back.
When each thread detects that the system time reaches TLocal by a high-precision timer, TcurFilm is initialized as the history time of playback start. The state machines of the playback thread groups all migrate to the playback running state. At this time, the playback threads 1 and 2 detect that the TcurFilm of the threads is not in the recording time range of the message list, and the message cannot be played back.
Starting from a TLocal time point, and then passing through the time length of H1-Thistory, the system time reaches TLocal + (H1-Thistory) which is marked as S1, and the current historical time TcurFilm is calculated as:
TcurFilm＝Thistory+(H1-Thistory)＝H1.
at this time, the playback thread 1 detects that the TcurFilm is not less than the recording time of the message at the head of the message list 1, reads and plays back the messages, and starts to play back the message list 1.
Starting from the TLocal time point, after the H2-third time length, the system time reaches TLocal + (H2-third), denoted as S2, and the playback thread 2 calculates the current historical time TcurFilm as:
TcurFilm＝Thistory+(H2-Thistory)＝H2.
at this time, the playback thread 2 detects that the TcurFilm is not less than the recording time of the message at the head of the message list 2, reads and plays back the messages, and starts the playback of the message list 2.
When the system time reaches TLocal + (T1-reality), which is denoted as S4, the playback thread 1 completes playback of all data, and the state machine transitions to a playback complete state. The other playback threads do not receive an impact.
At some later point in time (denoted S5), the user control module sends a message to stop playback. The playback thread group is received and then transits to an idle state. The playback thread 1 is moved from the completion of the playback to the idle state, the playback thread 2 does not end the playback of all the data, and the playback thread is moved from the playback proceeding state to the idle state. The playback thread 2 will release all the message list resources at this time.
Since the message list 2 does not complete the playback of all the contents, the history time T2 has no corresponding real time.
1.7, high precision timer (TmrPlay timer description)
The TmrPlay playback timer is used in each playback thread. The duration of the timer is less than 1ms, and the timer is used for updating the system time and the playback historical time in real time and comparing the system time and the playback historical time with the message time parameter TSys to ensure that state machines of all playback threads are synchronous and message playback actions of different storage files are synchronous.
Referring to fig. 5, after the TmrPlay timer expires, the system current time (denoted as Tnow) is obtained first. The current state is then detected.
If the state is a waiting synchronization state, whether Tnow is larger than or equal to Tsys is detected. If not, the current time is less than the operation time, and the processing is not carried out. If so, the system time reaches the specified time point, and the playback operation can be carried out. At this time, the state is firstly migrated to the playback proceeding state, and TcurFilm is updated and calculated to be Tfimm + Tnow-Tsys. And then detecting whether the recording time of the head message in the message sequence to be played back of the current thread is more than or equal to TcurFilm, if so, indicating that the time for sending the head message is up, and sending the head message. If not, no processing is performed.
Referring to fig. 5, after the TmrPlay timer times out, if the current state is detected to find that the playback progress state is detected, updating TcurFilm to Tfilm + Tnow-Tsys, and comparing TcurFilm with the time record of the header message in the message list, if TcurFilm is greater than the latter, it means that the playback time point is not reached, otherwise, reading the header message and playing back.
The invention is suitable for storing multi-path IP messages in the unmanned aerial vehicle measurement and control scene and replaying historical time afterwards, supports the accuracy of the passing time and realizes scene reconstruction and historical state interpretation in strict sequence. The invention supports multiple playbacks.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (3)
1. An unmanned aerial vehicle multi-source measurement and control data playback method is characterized in that: including user control module, storage module and playback module, user control module is connected with storage module and playback module respectively, storage module and playback module are connected, wherein:
the user control module provides an operation interface for a user and sends a control command to the storage module and the playback module to control the storage module and the playback module, and the control method of the user control module comprises the following steps:
step a1, begin forwarding messages: the message is sent by the user control module to each storage thread of the storage module; the message comprises: a local IP, a local interception port, a receiver IP and a receiver port; the function of the message is to require the storage thread of the message receiver to receive data at the local interception port of the local IP and immediately forward the data to the receiver port of the receiver IP; the memory thread is called a local port memory thread;
step a2, beginning to store the message, the carrying parameters including: the message is sent to a storage thread of each local interception port, and all data received by the local IP and the local interception ports are required to be added with time stamps and then stored in the appointed storage file name;
step a3, end store message: the message is sent to a storage thread without carrying parameters, and the storage thread does not store data after receiving the message;
step a4, begin playback of the message, carrying parameters: (a) playing back a historical time point, Thistory, (b) playing back a local time point, TLocal, (c) storing a file name, (d) an IP address and a port number of a receiver; the message is sent to a playback thread, the latter reads historical data from a storage file to obtain a historical message list, and the message is sent to an IP address/port of a receiver in succession according to the thread/TLocal parameter;
step a5, pause playback of the message, without carrying parameters: after the playback thread receives the instruction, the playback is suspended;
step a6, continuing to play back the message, carrying parameters: (a) playback history time point THistory, (b) playback local time point TLocal; after the playback thread receives the message, starting playback of the historical message of the historical time point Thistory at the future playback local time TLocal;
step a7, dragging the playback message, carrying parameters: (a) playback history time point, THistory, (b) playback local time Tlocal; after receiving the replay thread, starting to replay the historical message of the historical time point Thistory at a certain future replay local time TLocal;
step A8, ending playback of the message, without carrying parameters: after receiving the playback thread, ending the playback;
the storage module receives a message of multi-source data of the unmanned aerial vehicle and stores the message into a file, the storage module comprises a plurality of storage threads, each storage thread works independently, and the storage method of the storage module is as follows:
step B1, message forwarding: after receiving the message, the storage thread firstly determines the IP of the receiver according to the IP of the sender and the receiving port, and forwards the message to the receiver;
step B2, the process starts storing the message: after receiving a storage starting message sent by a user control module, constructing a storage starting port message, sending the storage starting port message to a storage thread, carrying out message interception on an IP address and a port specified by the storage thread, and recording a message after receiving the message; recording the original time of the content including (a) message and (b) message content, and then storing the two items (a) and (b) into the file of the port;
step B3, the process ends storing the message: after receiving a storage ending message sent by a user control terminal, a storage module stores all received contents which are not stored into a file and closes the file;
the playback module realizes the playback function of the message in the storage module under the control of the user control module, the playback module comprises a plurality of playback threads and is used for synchronizing the stored message data with high precision time and sending the synchronized data to the appointed IP/port number, and the playback method of the playback module comprises the following steps:
step C1, after the playback thread receives the message for starting playback sent by the user control end, starting the state machine to perform playback operation;
step C2, after receiving the messages of pause playback, continuous playback and stop playback sent by the user control end, the playback thread forwards the messages to the playback thread for processing;
the state machine playback thread is in an idle state initially; when a message for starting message playback is received, starting to read data from a specified file, setting the history time point of playback as THIstory and the local time point of playback as TLocal, starting a playback timer TmrPlay, and migrating to a waiting synchronization state to wait for the local system time to reach TLocal;
in the state of waiting for synchronization, detecting the system time after the timer TmrPlay is overtime and recording as Tnow; if detecting Tnow > -TLocal, considering that the system time has reached Tlocal and needs to be played back, the state machine transitions to a playback proceeding state and makes:
THistory＝THistory+(Tnow-Tlocal)
if the Thistory is found to exceed the recording time of the message to be played back, the message is sent to a specified IP address/port, and the playback operation of the message is executed;
in the playback progress state, if the playback thread receives the pause message, pausing the tmrPlay and shifting to a pause state;
in the playback state, if the playback thread receives a message of dragging playback, setting the thread as a playback history time point and the TLocal as a playback local time point according to the message content, migrating to a waiting synchronization state, and waiting for the system time to reach the TLocal;
in the playback progress state, if the playback thread detects that all the data to be played back are empty, the playback thread means that the data playback is completed, and the playback thread transitions to a playback completion state;
in a pause state, if a message for continuing playback is received, according to message parameters, setting the history time point of playback as the replay history time point, and the local time point of playback as the local time point, starting a playback timer TmrPlay, and migrating to a waiting synchronization state to wait for the local system time to reach TLocal;
in all states, if a message to stop playback is received, the state machine transitions to an idle state.
2. The unmanned aerial vehicle multi-source measurement and control data playback method according to claim 1, characterized in that: the timestamp in step a2 is accurate to milliseconds.
3. The unmanned aerial vehicle multi-source measurement and control data playback method according to claim 1, characterized in that: the original time of the message in step B2 is accurate to milliseconds.
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