CN112437466A - Data transmission method, data processing unit, receiving unit and unmanned equipment - Google Patents

Data transmission method, data processing unit, receiving unit and unmanned equipment Download PDF

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Publication number
CN112437466A
CN112437466A CN202011103564.XA CN202011103564A CN112437466A CN 112437466 A CN112437466 A CN 112437466A CN 202011103564 A CN202011103564 A CN 202011103564A CN 112437466 A CN112437466 A CN 112437466A
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data
message data
byte
unit
target
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CN112437466B (en
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董国君
都广斌
陈健文
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Zhuhai Yunzhou Intelligence Technology Ltd
Guangzhou Haige Communication Group Inc Co
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Zhuhai Yunzhou Intelligence Technology Ltd
Guangzhou Haige Communication Group Inc Co
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/06—Optimizing the usage of the radio link, e.g. header compression, information sizing, discarding information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
    • H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
    • H04L63/0435—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload wherein the sending and receiving network entities apply symmetric encryption, i.e. same key used for encryption and decryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/22—Parsing or analysis of headers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Hardware Design (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The application is applicable to the technical field of unmanned equipment, and provides a data transmission method, a data processing unit, a receiving unit and the unmanned equipment. The method is applicable to a data processing unit on the unmanned equipment, and comprises the steps of obtaining initial message data, and compressing the initial message data to obtain first message data; carrying out symmetrical reversible encryption processing on the first message data to generate second message data; sending second message data to a receiving unit based on a multicast mode; the receiving unit comprises at least one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, and the control base station is used for wirelessly communicating with the unmanned equipment. The data transmission method provided by the embodiment reduces the data transmission amount and network delay, and simultaneously, the data is transmitted based on the multicast transmission mode, so that the network resources are saved.

Description

Data transmission method, data processing unit, receiving unit and unmanned equipment
Technical Field
The application belongs to the technical field of unmanned equipment, and particularly relates to a data transmission method, a data processing unit, a receiving unit and unmanned equipment.
Background
In recent years, unmanned devices have been developed more and more rapidly. Taking an unmanned ship as an example, the application of the unmanned ship in the fields of scientific research, environmental protection, unmanned freight and the like is gradually trending.
Unmanned ships often carry multiple physical units/modules that work in concert simultaneously. For example, unmanned ships often have onboard data acquisition units, data processing units, logic operation units, and motion control units. The data acquisition unit is used for acquiring the position information of the unmanned ship. The data processing unit is used for packaging and encrypting the original data acquired by the data acquisition unit and sending the processed data to other units (a logic operation unit, a motion control unit or a shore-end base station). And the logic operation unit and the motion control unit execute corresponding operation according to the received data and control the unmanned ship to act according to the operation result. And the plurality of physical units work cooperatively to realize the automatic control of the unmanned ship.
Currently, a data processing unit generally transmits data based on a User Datagram Protocol (UDP) or a Transmission Control Protocol (TCP). When the data processing unit sends data to a plurality of physical units, a plurality of connections need to be established, so that the same data is sent for a plurality of times, and network resources are seriously occupied. Especially, when data is sent to a shore-based station, data transmission between the data processing unit and the shore-based station is air interface transmission, the demand for bandwidth is large, and large network delay often occurs.
Disclosure of Invention
In view of this, embodiments of the present application provide a data transmission method, a data processing unit, a receiving unit, and an unmanned device, so as to solve technical problems of serious network resource occupation and large network delay in data transmission of the unmanned device in the prior art.
In a first aspect, an embodiment of the present application provides a data transmission method, which is applied to a data processing unit on an unmanned device, and the method includes:
acquiring initial message data, and compressing the initial message data to obtain first message data;
carrying out symmetrical reversible encryption processing on the first message data to generate second message data;
sending second message data to a receiving unit based on a multicast mode; the receiving unit comprises at least one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, and the control base station is used for wirelessly communicating with the unmanned equipment.
In a possible implementation manner of the first aspect, the unmanned device is provided with a data acquisition unit. Correspondingly, obtaining initial message data, and compressing the initial message data to obtain first message data, including:
receiving initial message data sent by a data acquisition unit;
analyzing the initial message data to obtain a plurality of content fields and identification types respectively corresponding to the content fields;
screening a target content field from the plurality of content fields; the target content field includes location information of the drone;
and packaging the target content field and the identification type corresponding to the target content field to generate first message data.
In one possible implementation form of the first aspect, the target content field comprises at least one of: positioning information of the GPS, coordinate information of the GPS, UTC time information and shortest data information recommended by the GPS.
In a possible implementation manner of the first aspect, the first message data includes a plurality of data frames. Correspondingly, the symmetric reversible encryption processing is performed on the first message data to generate second message data, and the method comprises the following steps:
acquiring a preset encryption key;
summing each byte of the target data frame according to the encryption key to generate a summation result of each byte of the target data frame; the target data frame is any one of a plurality of data frames;
according to a preset value, carrying out remainder processing on a summation result of each byte of the target data frame to generate an encrypted frame corresponding to the target data frame;
and generating second message data according to the encrypted frames corresponding to the plurality of data frames.
In a possible implementation manner of the first aspect, summing each byte of the target data frame according to the encryption key to generate a summation result of each byte of the target data frame includes:
and under the condition that the byte number of the encryption key is greater than or equal to the byte number of the target data frame, sequentially summing the bytes of the encryption key at the corresponding position of the target data frame until the summation result of each byte of the target data frame is obtained.
In a possible implementation manner of the first aspect, summing each byte of the target data frame according to the encryption key to generate a summation result of each byte of the target data frame includes:
under the condition that the byte number of the encryption key is smaller than that of the target data frame, dividing the target data frame into a plurality of data groups according to the byte number of the encryption key;
for each data group, sequentially summing the bytes of the encryption key at the corresponding position of the data group by each byte to obtain a summation result of the data group; the summation result of the data group comprises a summation result of each byte of the data group;
and generating a summation result of each byte of the target data frame according to the summation results of the plurality of data groups.
In a possible implementation manner of the first aspect, sending second packet data to at least one receiving unit in a multicast-based manner includes:
acquiring a preset multicast address;
adding a multicast group corresponding to the multicast address to the data processing unit; the multicast group comprises a receiving unit;
and when the second message data is acquired, sending the second message data to a receiving unit in the multicast group.
In a second aspect, an embodiment of the present application provides a data transmission method, which is applied to a receiving unit, where the receiving unit is any one of a logic operation unit, a motion control unit, and a control base station, the logic operation unit and the motion control unit are disposed on an unmanned device, the control base station is used for wirelessly communicating with the unmanned device, and the unmanned device is provided with a data processing unit, and the method includes:
receiving second message data sent by the data processing unit;
decrypting the second message data according to a preset decryption key to obtain first message data; the decryption key is the same as the encryption key of the data processing unit; the first message data is the message data after the data processing unit compresses the initial message data.
In a third aspect, an embodiment of the present application provides a data transmission device, which is applied to a data processing unit on an unmanned device, and the device includes:
the acquisition module is used for acquiring initial message data and compressing the initial message data to obtain first message data.
And the encryption module is used for carrying out symmetrical reversible encryption processing on the first message data to generate second message data.
The sending module is used for sending second message data to the receiving unit based on a multicast mode; the receiving unit comprises at least one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, and the control base station is used for wirelessly communicating with the unmanned equipment.
In a fourth aspect, an embodiment of the present application provides a data transmission device, which is suitable for a receiving unit, where the receiving unit is any one of a logic operation unit, a motion control unit, and a control base station, the logic operation unit and the motion control unit are disposed on an unmanned device, the control base station is used for wireless communication with the unmanned device, and the unmanned device is provided with a data processing unit, and the device includes:
and the receiving module is used for receiving the second message data sent by the data processing unit.
The decryption module is used for decrypting the second message data according to a preset decryption key to obtain first message data; the decryption key is the same as the encryption key of the data processing unit; the first message data is the message data after the data processing unit compresses the initial message data.
In a fifth aspect, an embodiment of the present application provides a data processing unit, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the computer program is executed by the processor, the steps of any one of the methods in the first aspect are implemented.
In a sixth aspect, an embodiment of the present application provides a receiving unit, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the methods in the second aspect when executing the computer program.
In a seventh aspect, an embodiment of the present application provides an unmanned aerial vehicle, including the data processing unit according to the fifth aspect, and a logic operation unit and a motion control unit disposed on the unmanned aerial vehicle.
In an eighth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of any one of the methods in the first aspect, or implements the steps of any one of the methods in the second aspect.
In a ninth aspect, embodiments of the present application provide a computer program product, which, when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects, or to implement the steps of the method of any one of the above second aspects.
According to the data transmission method provided by the embodiment of the application, the first message data is the message data obtained by compressing the initial message data, and compared with a method for directly transmitting the initial message data, the data transmission quantity is greatly reduced, and the network delay is reduced. Meanwhile, the first message data is symmetrically and reversibly encrypted to generate second message data, the encrypted second message data is sent to the receiving units in a multicast mode, compared with a transmission method based on UDP or TCP, the multicast-based sending mode only needs to send the message data to the network once, and the message data can be sent to a plurality of receiving units simultaneously, so that network resources are greatly saved, the algorithm of the symmetrical and reversible encryption processing method is simple, the processing time before data sending is further shortened, and the network delay is reduced.
It is understood that the beneficial effects of the second to ninth aspects can be seen from the description of the first aspect, and are not repeated herein.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a data transmission method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a data transmission method according to an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating a process of acquiring first message data according to an embodiment of the present application;
FIG. 4 is a block diagram of a target content field according to an embodiment of the present application;
fig. 5 is a schematic flowchart of a process of generating second message data according to an embodiment of the present application;
fig. 6 is a schematic flowchart of a data transmission method according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of a data transmission device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a data transmission device according to another embodiment of the present application;
fig. 9 is a schematic hardware composition diagram of a data processing unit according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 1 is a schematic view of an application scenario of a data transmission method according to an embodiment of the present application. As shown in fig. 1, the application scenario includes an unmanned device 10 and a control base station 20.
The drone 10 may refer to unmanned boats, drones, and drones.
The control base station 20 may refer to a control device that wirelessly communicates with the unmanned device 10.
For example, the drone 10 may be an unmanned boat. Accordingly, the control base station 20 is a shore-side base station that wirelessly communicates with the unmanned ship.
In this embodiment, the unmanned aerial vehicle 10 may be an unmanned ship. The unmanned ship is provided with a data acquisition unit 11, a data processing unit 12, a logic operation unit 13 and a motion control unit 14.
And the data acquisition unit 11 is used for acquiring position information and fault information of the unmanned ship or image information of the environment where the unmanned ship is located, and packaging the acquired information to generate initial message data.
For example, the data acquisition unit may be a GPS module.
And the data processing unit 12 is connected with the data acquisition unit 11 through a serial port, and is configured to receive the initial message data sent by the data acquisition unit 11, and perform packing and encryption processing on the initial message data to generate message data to be sent.
And the logic operation unit 13 is configured to receive the message data sent by the data processing unit 12, execute a preset algorithm according to the received message data, generate a corresponding operation result, and send the operation result to a bank base station or another processing unit interested in the operation result.
It should be understood that the logic operation unit 13 may also receive a control command sent by the control base station, and select a corresponding operation logic or algorithm according to the received control command.
And the motion control unit 14 is configured to receive the message data sent by the data processing unit 12, generate a corresponding control instruction, and control an execution unit on the unmanned device to execute a corresponding action according to the control instruction.
In this embodiment, the control base station 20 may be a shore-end base station that wirelessly communicates with the unmanned ship. After generating the message data, the data processing unit 12 may also transmit the message data to the shore-side base station in a wireless communication manner.
In this embodiment, the logic operation unit 13, the motion control unit 14, and the control base station 20 may all receive the message data sent by the data processing unit 12, and may be collectively referred to as a receiving unit.
It is to be understood that other processing units may also be provided on the drone. For example, a laser radar, a navigation unit, and the like may also be provided. The data processing unit 12 may transmit the generated message data to one or more of the processing units. The receiving unit is not limited herein.
Currently, the data processing unit 12 generally transmits data based on a User Datagram Protocol (UDP) or a Transmission Control Protocol (TCP). When the data processing unit 12 sends data to multiple receiving units, multiple connections need to be established, which results in multiple times of sending the same data and serious occupation of network resources. Especially, when data is sent to a shore-based station, data transmission between the data processing unit and the shore-based station is air interface transmission, the demand for bandwidth is large, and large network delay often occurs.
Further, at present, the data processing unit 12 usually encrypts the initial message data sent by the data acquisition unit 11 directly, and then sends the complete message data to a plurality of receiving units. The complete message data contains data information which is not needed by the receiving unit, and network delay in data transmission is aggravated.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. It is worth mentioning that the specific embodiments listed below may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2 is a schematic flow chart of a data transmission method according to an embodiment of the present application. Applied to the unmanned device shown in fig. 2, the execution subject of the method provided by the present embodiment is the data processing unit in fig. 1. As shown in fig. 2, the method includes:
s11, obtaining the initial message data, and compressing the initial message data to obtain the first message data.
In this embodiment, the initial message data may be message data sent by a data acquisition unit disposed on the unmanned device.
The data processing unit compresses the initial message data, and packages the initial message data according to a protocol corresponding to the initial message data to generate first message data.
The data processing unit may compress the initial packet data by sequentially compressing each data frame in the initial packet data.
The protocol corresponding to the initial message data may be a communication protocol when the data acquisition unit acquires the initial message data.
The data acquisition unit is, for example, a GPS receiver. The GPS sends the information of position, speed and the like to the data processing unit through the serial port according to the standard specification of the NMEA-0183 protocol. The initial message data is the message data sent through the NMEA0183 protocol. The protocol corresponding to the initial data is NMEA 0183.
It should be understood that the NMEA-0183 protocol is the standard protocol that GPS receivers should adhere to, and is currently the most widely used protocol on GPS receivers. Common GPS receivers, GPS data processing software, navigation software all comply or at least are compatible with the above protocols.
In this embodiment, the data processing unit first filters effective content from the initial message data, then defines a data frame format of the required effective content, and packages the effective content according to the data frame format to generate the first message data.
The effective content can be determined according to the package requirement of the protocol corresponding to the initial message data and the use requirement of the receiving unit.
For example, the initial message data is the message data collected by the GPS module and sent through the NMEA0183 protocol. The protocol corresponding to the initial message data is NMEA 0183.
Then according to the package requirement of NMEA0183, the valid content may include the start identifier of the data frame, the identifier of whether the message is valid, and the identifier of the total length of the data frame.
The effective content may include at least one of positioning information of the GPS and coordinate information of the GPS or the like according to the use requirement of the receiving unit.
In this embodiment, the data frame format of the valid content includes the identification type of the valid content and the number of bytes of the valid content.
And S12, performing symmetrical reversible encryption processing on the first message data to generate second message data.
In this embodiment, the symmetric and reversible encryption processing may mean that the encryption key of the data processing end is the same as the decryption key of the receiving unit, and the data before encryption of the data processing end is completely the same as the data after decryption of the receiving unit.
In this embodiment, the data processing unit may perform encryption processing on the first message data based on a preset encryption key.
The preset encryption key is a user-defined key. That is, the predetermined encryption key may be a key of any byte length.
In this embodiment, the first packet data may include a plurality of data frames, and the plurality of data frames are sequentially transmitted. Encrypting the first message data, which may refer to sequentially encrypting each data frame according to a sending sequence of a plurality of data frames to obtain an encrypted frame corresponding to each data frame; and then generating second message data according to the encrypted frames corresponding to the plurality of data frames.
The encryption process may be an arithmetic process for each byte of data in the data frame. The arithmetic processing method includes, but is not limited to, addition, subtraction, multiplication, division, and mixing operation, and is not particularly limited herein.
S13, sending second message data to the receiving unit based on the multicast mode; the receiving unit comprises at least one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, and the control base station is used for wirelessly communicating with the unmanned equipment.
In this embodiment, multicasting may mean that the same data information is delivered to a group of destination addresses (i.e., multiple receiving units) at the same time.
In this embodiment, the data processing unit implements one-to-many network connection with the plurality of receiving units through the multicast address. When the data processing unit transmits the same message data to a plurality of receiving units simultaneously based on a multicast mode, only one copy of message data needs to be uploaded into the network.
Before the data processing unit transmits the same message data to a plurality of receiving units simultaneously based on a multicast mode, a multicast transceiving mechanism needs to be established first.
The establishing of the multicast transceiving mechanism may be adding the data processing unit and the plurality of receiving units to the same multicast group. The same multicast group may refer to a multicast group corresponding to a preset multicast address.
The adding of the data processing unit to the multicast group corresponding to the multicast address may refer to setting an IP address of a network card of the data processing unit to an IP of the multicast address range. Adding the plurality of receiving units to the multicast group corresponding to the multicast address may refer to setting an IP address of a network card of each receiving unit to an IP within a multicast address range.
In this embodiment, the data processing unit obtains a preset multicast address, and adds a multicast group corresponding to the multicast address to the data processing unit; the multicast group includes at least one receiving unit. And when acquiring the second message data, the data processing unit sends the second message data to the receiving unit in the multicast group.
For example, after acquiring the encrypted frame of each data frame in the first packet data, the data processing unit may send the encrypted frame to the receiving unit in the multicast group based on the multicast mode. That is, the data processing unit sequentially transmits a plurality of data frames to realize the transmission of the second message data.
According to the data transmission method provided by the embodiment of the application, the first message data is the message data obtained by compressing the initial message data, and compared with a method for directly transmitting the initial message data, the data transmission quantity is greatly reduced, and the network delay is reduced. Meanwhile, the first message data is symmetrically and reversibly encrypted to generate second message data, the encrypted second message data is sent to the receiving units in a multicast mode, compared with a transmission method based on UDP or TCP, the multicast-based sending mode only needs to send the message data to the network once, and the message data can be sent to a plurality of receiving units simultaneously, so that network resources are greatly saved, the algorithm of the symmetrical and reversible encryption processing method is simple, the processing time before data sending is further shortened, and the network delay is reduced.
Fig. 3 is a schematic flowchart of a process of acquiring first packet data according to an embodiment of the present application. As shown in fig. 3, acquiring first packet data to be transmitted includes:
and S111, receiving the initial message data sent by the data acquisition unit.
In this embodiment, the initial message data is data directly acquired by the data acquisition unit.
And S112, analyzing the initial message data to obtain a plurality of content fields and identification types corresponding to the content fields respectively.
In this embodiment, the analyzing the initial packet data may refer to analyzing the initial packet data according to a data frame format of a data protocol corresponding to the initial packet data, so as to obtain a plurality of content fields included in the initial packet data and identification types respectively corresponding to the content fields.
For example, the initial message data is the message data collected by the GPS module and sent through the NMEA0183 protocol. The initial message data is analyzed and interpreted to obtain the definition of the field included in the standard NMEA0183 protocol.
S113, screening target content fields from the plurality of content fields; the target content field includes location information of the drone.
In this embodiment, the target content field may be the valid content in the embodiment of fig. 2. The target content field may be determined according to a package requirement of a protocol corresponding to the initial packet data and a usage requirement of the receiving unit.
For example, if the initial message data is message data based on NMEA-0183 protocol, the target content field may include: at least one item of positioning information of the GPS, coordinate information of the GPS, UTC time information and shortest data information recommended by the GPS.
S114, packaging the target content field and the identification type corresponding to the target content field to generate first message data.
In this embodiment, the target content field and the identifier type corresponding to the target content field are packaged according to the data format of the initial message data.
For example, the initial message data is message data based on NMEA-0183 protocol. The data format of the standard NMEA-0183 protocol statement is defined as follows:
"$" is the sentence start flag;
"," is a domain delimiter;
"x" is a checksum identifier followed by two digits as a checksum, representing the bitwise exclusive-or value of all characters between "$" and "".
"/" is a terminator, and all statements must end.
And packaging the target content item and the identification type corresponding to the target content field according to the format.
Exemplarily, fig. 4 is a schematic diagram of a composition of a target content field according to an embodiment of the present application. As shown in fig. 4, the first message data is the message data obtained by compressing the message data of the NMEA-0183 protocol. The first message data comprises a plurality of data frames. As can be seen from fig. 4, the frame length of each data frame of the first message data provided in this embodiment is 38 bytes, while the frame length of each data frame of the standard NMEA-0183 communication protocol is about 500 bytes, and by performing compression processing on the NMEA-0183 communication protocol, only the target content field of interest of the receiving unit can be transmitted, so that the data load in the network is greatly reduced, the overhead of the data processing unit is reduced, and the processing speed is increased.
Fig. 5 is a schematic flowchart of generating second message data according to an embodiment of the present application. As shown in fig. 5, performing symmetric reversible encryption processing on the first message data to generate second message data includes:
s121, acquiring a preset encryption key.
In this embodiment, the preset encryption key is a user-defined key. That is, the predetermined encryption key may be a key of any byte length.
S122, summing each byte of the target data frame according to the encryption key to generate a summation result of each byte of the target data frame;
in this embodiment, the first packet data includes a plurality of data frames, and the target data frame may be any one of the plurality of data frames.
In this embodiment, the summing processing of each byte of the target data frame according to the encryption key may refer to sequentially summing processing of each byte of the encryption key and a byte of the target data frame.
The encryption key may be any byte length key. The degree of encryption key may be greater than the number of bytes of the target data frame, or may be less than the number of bytes of the frame of the target data frame.
In some embodiments, if the number of bytes of the encryption key is greater than or equal to the number of bytes of the target data frame, each byte of the encryption key is sequentially summed with the byte at the corresponding position of the target data frame until the summation result of each byte of the target data frame is obtained.
Illustratively, the number of bytes of the encryption key is M, and the corresponding identifiers of the M bytes are 1, 2 and 3 … … M in sequence. The number of bytes of the target data frame is N, and the identifications corresponding to the N bytes are 1, 2 and 3 … … N in sequence.
If M is larger than or equal to N, summing the bytes with the same identification, and directly obtaining the summing results corresponding to the N bytes of the target data frame.
In yet other embodiments, the number of bytes in the encryption key is less than the number of bytes in the target data frame. Then summing each byte of the encryption key in turn with each byte of the target data frame may include the steps of:
step A: and dividing the target data frame into a plurality of data groups according to the number of bytes of the encryption key.
For example, if the number of bytes of the encryption key is 10 and the number of bytes of the target data frame is 38, the target data frame is divided into 4 data groups, where the number of bytes of the first 3 data groups is the same as the number of bytes of the encryption key, and both are 10, and the number of bytes of the 4 th data group is 8.
And B: for each data group, sequentially summing the bytes of the encryption key at the corresponding position of the data group by each byte to obtain a summation result of the data group; the summation result of the data group includes a summation result of each byte of the data group.
In this step, for each data group, the number of bytes of the encryption key is greater than or equal to the number of bytes of the data group, and the summation result of each data group can be calculated according to the previous embodiment.
And C: and generating a summation result of each byte of the target data frame according to the summation results of the plurality of data groups.
In this step, the summation results of the plurality of data groups are sequentially combined according to the division order, and a summation result of each byte of the target data frame is generated.
And S123, performing remainder processing on the summation result of each byte of the target data frame according to the preset value to generate an encrypted frame corresponding to the target data frame.
In this embodiment, the preset value may be 256.
And S124, generating second message data according to the encrypted frames corresponding to the plurality of data frames.
In this embodiment, the data processing unit may sequentially perform encryption processing on each data frame, and after obtaining an encrypted frame corresponding to the data frame, send the encrypted frame to the multiple receiving units in a multicast manner.
The data processing unit may further combine the encrypted frames corresponding to the plurality of data frames according to the sending order of the plurality of data frames to generate the second message data.
According to the self-defined encryption key and the encryption method provided by the embodiment of the application, the encryption processing of the first message data can be realized without other certificate files and key files, and the encryption method is flexible and safe. And the processing algorithm and the flow are simple, the overhead of the data processing unit is reduced, and the processing speed is improved.
Fig. 6 is a flowchart illustrating a data transmission method according to another embodiment of the present application. The data transmission method provided by the embodiment is suitable for a receiving unit, the receiving unit is any one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, the control base station is used for wireless communication with the unmanned equipment, and the unmanned equipment is provided with a data processing unit. As shown in fig. 6, the method includes:
and S21, receiving the second message data sent by the data processing unit.
In this embodiment, before the receiving unit receives the second message data sent by the data processing unit, a multicast transceiving mechanism needs to be established first.
The establishing of the multicast transceiving mechanism may refer to adding the receiving unit to the same multicast group as the data processing unit. The embodiment of adding the receiving unit to the multicast group may refer to the description of the embodiment in fig. 2, and is not described herein again.
S22, decrypting the second message data according to a preset decryption key to obtain first message data; the decryption key is the same as the encryption key of the data processing unit; the first message data is the message data after the data processing unit compresses the initial message data.
In this embodiment, the second message data includes a plurality of encrypted data frames. The receiving unit may perform decryption processing on an encrypted data frame according to the decryption key every time the encrypted data frame is received.
In this embodiment, the receiving unit decrypts the encrypted data frame. The method may refer to adding a preset value to each byte of an encrypted data frame to obtain a middle value corresponding to each byte; and then, subtracting the intermediate value corresponding to each byte and the decryption password at the corresponding position, so that the corresponding numerical value after decryption of each byte can be obtained.
The preset value in this embodiment is the same as the preset value in the embodiment of fig. 5, and is 256. The decryption key is also the same as the encryption key in the embodiment of fig. 5.
In this embodiment, if the number of bytes of the encrypted data frame is greater than the number of bytes of the decryption key, the encrypted data frame needs to be divided into a plurality of data groups first, and decryption processing is performed on each data group to obtain a decryption result corresponding to the bytes of each data group; and then, combining the decryption results corresponding to each data group to generate the decryption result corresponding to the encrypted data frame.
For an implementation of dividing the encrypted data frame into a plurality of data groups, reference may be made to the embodiment in fig. 5, which is not described herein again.
In this embodiment, after obtaining first message data, a receiving unit obtains a plurality of identifier types included in the first message data, and numbers of bytes corresponding to the plurality of identifier types, respectively; checking a target content item contained in the first message data according to the number of bytes; sending a confirmation instruction to the data processing unit under the condition that the first message data passes the verification; and the confirmation instruction is used for indicating that the first message data is successfully received.
And if the actual byte number of the target content item is the same as the byte data of the identification type corresponding to the target content item, the target content item passes the verification.
And if all the target content items in the first message data pass the verification, the first message data pass the verification.
The data transmission method provided in the embodiment shown in fig. 6 may refer to the embodiment shown in fig. 2, and details of this embodiment are not repeated here.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 7 is a schematic structural diagram of a data transmission device according to an embodiment of the present application. The data processing unit is suitable for the unmanned equipment. As shown in fig. 7, the data transmission device 30 includes an acquisition module 301, an encryption module 302, and a transmission module 303.
The obtaining module 301 is configured to obtain initial message data, and compress the initial message data to obtain first message data.
The encryption module 302 is configured to perform symmetric reversible encryption processing on the first message data to generate second message data.
A sending module 303, configured to send second packet data to the receiving unit based on a multicast mode; the receiving unit comprises at least one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, and the control base station is used for wirelessly communicating with the unmanned equipment.
Optionally, the unmanned device is provided with a data acquisition unit. Correspondingly, the obtaining module 301 obtains the initial message data, and compresses the initial message data to obtain the first message data, which specifically includes:
receiving initial message data sent by a data acquisition unit;
analyzing the initial message data to obtain a plurality of content fields and identification types respectively corresponding to the content fields;
screening a target content field from the plurality of content fields; the target content field includes location information of the drone;
and packaging the target content field and the identification type corresponding to the target content field to generate first message data.
Optionally, the target content field comprises: positioning information of the GPS, coordinate information of the GPS, UTC time information and shortest data information recommended by the GPS.
Optionally, the encryption module 302 performs symmetric reversible encryption processing on the first message data to generate second message data, which specifically includes:
acquiring a preset encryption key;
summing each byte of the target data frame according to the encryption key to generate a summation result of each byte of the target data frame; the target data frame is any one of a plurality of data frames;
according to a preset value, carrying out remainder processing on a summation result of each byte of the target data frame to generate an encrypted frame corresponding to the target data frame;
and generating second message data according to the encrypted frames corresponding to the plurality of data frames.
Optionally, the encrypting module 302 performs summation processing on each byte of the target data frame according to the encryption key to generate a summation result of each byte of the target data frame, which specifically includes:
and under the condition that the byte number of the encryption key is greater than or equal to the byte number of the target data frame, sequentially summing the bytes of the encryption key at the corresponding position of the target data frame until the summation result of each byte of the target data frame is obtained.
Optionally, the encrypting module 302 performs summation processing on each byte of the target data frame according to the encryption key to generate a summation result of each byte of the target data frame, which specifically includes:
under the condition that the byte number of the encryption key is smaller than that of the target data frame, dividing the target data frame into a plurality of data groups according to the byte number of the encryption key;
for each data group, sequentially summing the bytes of the encryption key at the corresponding position of the data group by each byte to obtain a summation result of the data group; the summation result of the data group comprises a summation result of each byte of the data group;
and generating a summation result of each byte of the target data frame according to the summation results of the plurality of data groups.
Optionally, the sending module 303 sends the second packet data to at least one receiving unit based on a multicast mode, which specifically includes:
acquiring a preset multicast address;
adding a multicast group corresponding to the multicast address to the data processing unit; the multicast group comprises a receiving unit;
and when the second message data is acquired, sending the second message data to a receiving unit in the multicast group.
The data transmission apparatus provided in the embodiment shown in fig. 7 may be used to implement the technical solutions in the embodiments of fig. 2 to fig. 5 in the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 8 is a schematic structural diagram of a data transmission device according to another embodiment of the present application. The unmanned aerial vehicle is suitable for a receiving unit, the receiving unit is any one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned aerial vehicle, the control base station is used for wireless communication with the unmanned aerial vehicle, and a data processing unit is arranged on the unmanned aerial vehicle. As shown in fig. 8, the data transmission device 40 includes a receiving module 401 and a decryption module 402.
The receiving module 401 is configured to receive the second message data sent by the data processing unit.
A decryption module 402, configured to decrypt the second message data according to a preset decryption key to obtain first message data; the decryption key is the same as the encryption key of the data processing unit; the first message data is the message data after the data processing unit compresses the initial message data.
The data transmission apparatus provided in the embodiment shown in fig. 8 may be used to implement the technical solution in the embodiment of fig. 6 in the above method embodiment, and the implementation principle and technical effect are similar, which is not described herein again.
Fig. 9 is a schematic diagram of a data processing unit 50 according to an embodiment of the present application. As shown in fig. 9, the data processing unit 50 of this embodiment includes: at least one processor 501, a memory 502, and computer programs stored in the memory 502 and executable on the processor 501. The data processing unit 50 further comprises a communication means 503, wherein the processor 501, the memory 502 and the communication means 503 are connected by a bus 504.
The processor 501, when executing the computer program, implements the steps in the above-described embodiments of the data transmission method, such as the steps S11 to S13 in the embodiment shown in fig. 2. Alternatively, the processor 501, when executing the computer program, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 301 to 303 shown in fig. 7.
Illustratively, a computer program may be partitioned into one or more modules/units that are stored in the memory 502 and executed by the processor 501 to accomplish the present application. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of a computer program in the data processing unit 50.
Those skilled in the art will appreciate that fig. 9 is merely an example of a data processing unit and is not limiting of a data processing unit and may include more or fewer components than shown, or combine certain components, or different components, such as input output devices, network access devices, buses, etc.
Alternatively, the data processing unit may be the data processing unit in fig. 1.
The Processor 501 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 502 may be an internal memory unit of the communication base station, or may be an external memory device of the communication base station, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. The memory 502 is used for storing the computer programs and other programs and data required by the communication base station. The memory 502 may also be used to temporarily store data that has been output or is to be output.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The embodiment of the application also provides a receiving unit. The receiving unit of this embodiment includes: at least one processor, a memory, and a computer program stored in the memory and executable on the processor. The data processing unit further comprises a communication component, wherein the processor, the memory and the communication component are connected by a bus.
The receiving unit can be any one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, the control base station is used for wireless communication with the unmanned equipment, and the unmanned equipment is provided with a data processing unit.
The embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The embodiment of the application also provides unmanned equipment, wherein the data processing unit in the embodiment of fig. 9 is loaded on the unmanned ship equipment, and the unmanned equipment is also provided with a logic operation unit, a motion control unit and the like which can be used as a receiving unit.
The data processing unit may send the message data to the logical operation unit, the motion control unit, and the control base station in a multicast manner.
The unmanned equipment in the embodiment can be an unmanned ship, an unmanned boat, an unmanned plane and the like. And are not limited herein.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (11)

1. A data transmission method adapted for use with a data processing unit on an unmanned device, the method comprising:
acquiring initial message data, and compressing the initial message data to obtain first message data;
performing symmetrical reversible encryption processing on the first message data to generate second message data;
sending the second message data to a receiving unit based on a multicast mode; the receiving unit comprises at least one of a logic operation unit, a motion control unit and a control base station, the logic operation unit and the motion control unit are arranged on the unmanned equipment, and the control base station is used for wirelessly communicating with the unmanned equipment.
2. The data transmission method according to claim 1, wherein a data acquisition unit is provided on the unmanned device;
the obtaining of the initial message data and the compressing of the initial message data to obtain the first message data includes:
receiving initial message data sent by the data acquisition unit;
analyzing the initial message data to obtain a plurality of content fields and identification types respectively corresponding to the content fields;
selecting a target content field from the plurality of content fields; the target content field includes location information of the drone;
and packaging the target content field and the identification type corresponding to the target content field to generate the first message data.
3. The data transmission method of claim 2, wherein the target content field comprises at least one of:
positioning information of the GPS, coordinate information of the GPS, UTC time information and shortest data information recommended by the GPS.
4. The data transmission method of claim 1, wherein the first message data comprises a plurality of data frames;
the performing symmetric reversible encryption processing on the first message data to generate second message data includes:
acquiring a preset encryption key;
summing each byte of a target data frame according to the encryption key to generate a summation result of each byte of the target data frame; the target data frame is any one of the plurality of data frames;
according to a preset value, carrying out remainder processing on a summation result of each byte of the target data frame to generate an encrypted frame corresponding to the target data frame;
and generating the second message data according to the encrypted frames corresponding to the plurality of data frames.
5. The data transmission method according to claim 4, wherein the summing each byte of the target data frame according to the encryption key to generate a summation result for each byte of the target data frame, includes:
and under the condition that the byte number of the encryption key is greater than or equal to the byte number of the target data frame, sequentially summing the bytes of the encryption key at the corresponding position of the target data frame until a summation result of each byte of the target data frame is obtained.
6. The data transmission method according to claim 4, wherein the summing each byte of the target data frame according to the encryption key to generate a summation result for each byte of the target data frame, includes:
under the condition that the number of bytes of the encryption key is smaller than that of the target data frame, dividing the target data frame into a plurality of data groups according to the number of bytes of the encryption key;
for each data group, sequentially summing each byte of the encryption key to the byte at the corresponding position of the data group to obtain a summation result of the data group; the summation result of the data group comprises a summation result of each byte of the data group;
and generating a summation result of each byte of the target data frame according to the summation results of the plurality of data groups.
7. The data transmission method according to claim 1, wherein the sending the second packet data to at least one receiving unit in a multicast-based manner includes:
acquiring a preset multicast address;
adding the multicast group corresponding to the multicast address to the data processing unit; the multicast group comprises the receiving unit;
and when the second message data is acquired, sending the second message data to a receiving unit in the multicast group.
8. A data transmission method, adapted to a receiving unit, where the receiving unit is any one of a logic operation unit, a motion control unit, and a control base station, where the logic operation unit and the motion control unit are disposed on an unmanned device, the control base station is configured to wirelessly communicate with the unmanned device, and the unmanned device is provided with a data processing unit, and the method includes:
receiving second message data sent by the data processing unit;
decrypting the second message data according to a preset decryption key to obtain first message data; the decryption key is the same as the encryption key of the data processing unit; the first message data is the message data obtained by compressing the initial message data by the data processing unit.
9. A data processing unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A receiving unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method as claimed in claim 8 are implemented when the processor executes the computer program.
11. An unmanned aerial device, comprising the data processing unit of claim 9, and a logical operation unit, a motion control unit disposed on the unmanned aerial device.
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