CN115085865A - KCP (KCP) -protocol-based radar digital video low-delay high-reliability transmission method - Google Patents
KCP (KCP) -protocol-based radar digital video low-delay high-reliability transmission method Download PDFInfo
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Abstract
The invention provides a radar digital video low-delay high-reliability transmission method based on a KCP (KCP protocol), which belongs to the technical field of ship traffic management. The technical scheme of the invention solves the problem of packet loss in the radar digital video transmission under the wireless network in the prior art.
Description
Technical Field
The invention relates to the technical field of ship traffic management, in particular to a radar digital video low-delay high-reliability transmission method based on a KCP protocol.
Background
The radar digital video adopts digital microwave transmission, namely a wireless transmission mode, and the wireless transmission has the defects of high error rate and high packet loss rate. The radar digital video comprises information such as the distance, the direction, the size and the like of a target, so that the transmission quality of the digital video not only influences the display effect of radar images, but also influences the recording precision and the reliability of target parameters. With the continuous improvement of the requirements of resolution and measurement precision, the amount of the generated radar digital video data is greatly increased, and the radar image is required to be transmitted accurately and reliably in engineering application and real-time performance is guaranteed.
At present, the method for realizing reliable data transmission mainly adopts a TCP protocol or an SCTP protocol. Both TCP and SCTP are stream-based transport protocols, and have quite complicated mechanisms for guaranteeing reliable transmission, and when applied to communication, the TCP and SCTP will inevitably increase overhead of the system and reduce communication efficiency, whereas UDP, although having low overhead and high rate, is an unreliable transfer protocol based on messages, and therefore, it is naturally considered to add some functions necessary for guaranteeing reliable data transfer on the basis of UDP, so that it becomes a reliable transfer protocol based on messages, i.e. KCP protocol. In order to ensure the reliability of data transmission, the KCP protocol requires the transmitting end to retransmit a message after the receiving end detects packet loss, which greatly increases data transmission delay, occupies extra bandwidth to retransmit data, and affects the transmission of subsequent data segments. Therefore, reducing packet loss retransmission is of great significance for improving network transmission rate.
Forward error correction is an effective method for solving the problem of packet loss retransmission, and the core of the forward error correction is to reduce the probability of retransmission through redundant data segments. Through a forward error correction mechanism, even if a receiving end finds packet loss, the receiving end can still recover the lost information based on the received redundant data segment, and message retransmission is avoided. A transmission mechanism of a KCP based on forward error correction works between an application layer and an IP layer, after a data Segment to be transmitted is formed on the KCP layer according to the Maximum message Size (MSS), one or more redundant data segments are generated through forward error correction coding, and the proportion of the redundant data segments can be adjusted through setting parameters of the error correction coding. The larger the ratio of the redundant segment to the effective data segment is, the stronger the packet loss recovery capability is, but the more extra bandwidth is required for transmitting the same amount of effective data; otherwise, the lower the packet loss recovery capability is, the lower the extra transmission cost is. Increasing the proportion of the redundant segments can reduce the probability of packet loss and reduce retransmission, thereby reducing the transmission time of the data segments, but because the available bandwidth is limited, the increase of the proportion of the redundant segments can increase the bandwidth occupied by the redundant segments, and the decrease of the available bandwidth of the effective data segments can increase the time for completing the transmission of the data segments.
Disclosure of Invention
According to the problem of packet loss in radar digital video transmission under the wireless network, the method for transmitting the radar digital video with low time delay and high reliability based on the KCP protocol is provided. The invention mainly utilizes a forward error correction mechanism based on the adaptive adjustment of the KCP protocol to optimize the transmission time to the maximum extent.
The technical means adopted by the invention are as follows:
a radar digital video low-delay high-reliability transmission method based on a KCP protocol comprises the following steps:
s1, the sending end packs the radar data frames into more than one KCP packet in sequence, numbers the packets in sequence, and attaches the numbers to the data packets;
s2, when the length of the radar data is larger than the MTU, cutting the frames with the length larger than the MTU in the radar data, blocking and packaging the frames into a plurality of KCP packets, and when the length of the radar data is smaller than the MTU in the MTU, directly packaging the data into the KCP packets;
s3, the sending end copies the KCP packet to the sending buffer area for calling retransmission when the sending fails; the sending end sends the data packets out in sequence and records the initial sending time and the last sending time of each data packet;
s4, dynamically setting parameters of the forward error correction FEC through a redundant segment proportion adjustment algorithm based on packet loss rate statistics to obtain the FEC with self-adaptive redundancy;
s5, coding the KCP data packet by adopting FEC of self-adaptive redundancy to obtain a coded data packet;
s6, transmitting the encoded data packet by adopting a wireless channel UDP;
s7, the receiving end carries out FEC decoding on the data packet;
s8, the receiving end receives the data in the KCP packet and copies the received data to the receiving buffer zone at the same time;
s9, the receiving end determines the processing mode of the buffer data according to the sequence number in the KCP packet, the processing mode includes: discard, decode or retransmit;
s10, the receiving end encapsulates the serial number of the received data packet in a confirmation packet at a certain time interval and sends the confirmation packet to the sending end;
and S11, the receiving end packages the analyzed radar video data.
Further, in step S4, the packet loss rate on the KCP link is calculated, so as to adjust the FEC redundancy, which is n/(k + n), according to the change of the network condition, where the information bit length is k and the check bit length is n.
Further, a packet loss retransmission mechanism of a KCP protocol is adopted to calculate a packet loss rate on the KCP link, specifically:
judging the retransmission data segment: the KCP data segments all have data segment serial numbers, so that the retransmitted data segments can be judged through the data segment serial numbers; for each time interval for counting the packet loss rate, recording the sequence number of the first arrived data segment in the time interval as the initial value of the minimum sequence number and the maximum sequence number in the time interval, updating the value of the maximum sequence number in the time interval according to the sequence numbers of the subsequent data segments, and counting the total number of the data segments in the time interval; if the sequence number of the sent data segment is between the current maximum sequence number and the current minimum sequence number, the current sent data segment can be known to be a retransmission data segment according to the numbering rule of the KCP data segment;
calculating the packet loss rate on a KCP link: and changing the number of the lost data segments, counting the total data segments sent in the time interval and the number of the successfully transmitted data segments by the sending end when the time interval is ended, and calculating to obtain the packet loss rate L on the KCP link.
Further, the adjusting the redundancy of the FEC according to the change of the network condition specifically includes:
when the network condition is poor, the redundancy of data transmission needs to be improved, and the redundancy cannot be improved only according to the increase of the packet loss rate at one moment in consideration of the randomness of packet loss of each round of data;
when the packet loss rates L rise at three consecutive moments, the situation that the network condition becomes worse can be reflected more accurately, so that the number of redundant data segments is increased when the packet loss rates L rise at 3 consecutive moments;
when the network condition becomes better, the KCP link is more stable, and the packet loss rate L is lower, at this time, the redundancy ratio needs to be reduced to improve the effective rate of data transmission;
when the packet loss rate L is 0, it indicates that no data is lost after transmission, and the redundancy of FEC is 0 at this time, which can effectively save bandwidth.
Further, in step S5, the adaptive redundancy FEC specifically includes:
and adjusting the redundancy of the FEC of the sending end according to the packet loss rate counted by the sending end, reducing the redundancy of the FEC when the packet loss rate is lower, improving the bandwidth utilization rate, improving the redundancy of the FEC when the packet loss rate is higher, and improving the transmission reliability.
Compared with the prior art, the invention has the following advantages:
the low-delay high-reliability radar digital video transmission method under the wireless network, provided by the invention, has the advantages that when a certain wireless channel loses packets, the video data are coded by adopting the FEC with the self-adaptive redundancy, the redundancy of the FEC is automatically adjusted according to the packet loss rate fed back by the receiving end, and when the certain wireless channel loses packets, the transmitting end retransmits the video data packets in time, so that the radar video data are reliably transmitted to the receiving end in real time.
For the reasons, the invention can be widely popularized in the fields of ship traffic management and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a diagram of a KCP protocol assembly structure according to an embodiment of the present invention.
FIG. 3 is a flow chart of FEC adjustment for adaptive redundancy based on KCP according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
Based on the phenomenon of packet loss in radar digital video transmission under the existing wireless network, the invention uses the radar digital video low-delay high-reliability transmission technology based on the KCP protocol to solve the problem. For ease of understanding the scheme, the features presented in the present invention are explained as follows:
FEC: forward Error Correction (Forward Error Correction), a sender adds a certain redundant Error Correction code to data to be sent and sends the data together, and a receiver detects errors of the data according to the Error Correction code.
And ACK: an acknowledgement character (acknowledgement character), a transmission type control character, which is transmitted from a receiving station to a transmitting station in data communication, indicates that the transmitted data has been acknowledged and received without error.
As shown in fig. 1, the present invention provides a radar digital video low-delay high-reliability transmission method based on KCP protocol, which includes:
s1, the sending end packs the radar data frames into more than one KCP packet in sequence, numbers the packets in sequence, and attaches the numbers to the data packets;
s2, when the length of the radar data is larger than the MTU, cutting the frames with the length larger than the MTU in the radar data, blocking and packaging the frames into a plurality of KCP packets, and when the length of the radar data is smaller than the MTU in the MTU, directly packaging the data into the KCP packets;
s3, the sending end copies the KCP packet to the sending buffer area for calling retransmission when the sending fails; the sending end sends the data packets out in sequence and records the initial sending time and the last sending time of each data packet;
s4, dynamically setting parameters of the forward error correction FEC through a redundant segment proportion adjustment algorithm based on packet loss rate statistics to obtain the FEC with self-adaptive redundancy;
s5, coding the KCP data packet by adopting FEC of self-adaptive redundancy to obtain a coded data packet;
s6, transmitting the encoded data packet by adopting a wireless channel UDP;
s7, the receiving end carries out FEC decoding on the data packet;
s8, the receiving end receives the data in the KCP packet and copies the received data to the receiving buffer zone at the same time;
s9, the receiving end determines the processing mode of the buffer data according to the sequence number in the KCP packet, the processing mode includes: discard, decode or retransmit;
s10, the receiving end encapsulates the serial number of the received data packet in a confirmation packet at a certain time interval and sends the confirmation packet to the sending end;
and S11, the receiving end packages the analyzed radar video data. As shown in fig. 2, a diagram of the KCP protocol assembly structure.
In a specific implementation, as a preferred embodiment of the present invention, in step S4, the redundancy of FEC is adjusted to cope with the change of the network situation by calculating the packet loss rate on the KCP link, where the FEC redundancy is n/(k + n), where the information bit length is k and the check bit length is n.
In specific implementation, as a preferred implementation of the present invention, a packet loss retransmission mechanism of a KCP protocol itself is used to calculate a packet loss rate on the KCP link, and since forward error correction is for a KCP data segment to be transmitted, a KCP protocol stack at a receiving end receives the data segment after attempting recovery. If a group of data segments can be successfully recovered at the receiving end, the KCP protocol stack at the transmitting end does not retransmit the data segments, but retransmits only a part of the data segments that are not successfully recovered at the receiving end. When retransmission occurs, it is indicated that the packet loss rate used in the calculation of this round is lower than the real packet loss rate, and at this time, the redundancy ratio of the data segment needs to be increased. The specific calculation method is as follows:
judging the retransmission data segment: the KCP data segments all have data segment serial numbers, so that the retransmission data segments can be judged through the data segment serial numbers; for each time interval for counting the packet loss rate, recording the sequence number of the first arrived data segment in the time interval as the initial value of the minimum sequence number and the maximum sequence number in the time interval, updating the value of the maximum sequence number in the time interval according to the sequence numbers of the subsequent data segments, and counting the total number of the data segments in the time interval; if the sequence number of the sent data segment is between the current maximum sequence number and the current minimum sequence number, the current sent data segment can be known to be a retransmission data segment according to the numbering rule of the KCP data segment;
calculating the packet loss rate on a KCP link: and changing the number of the lost data segments, and counting the total data segments sent in the time interval and the number of the successfully transmitted data segments by the sending end when the time interval is ended, and calculating to obtain the packet loss rate L on the KCP link.
In specific implementation, as a preferred embodiment of the present invention, after the estimation of the network condition is completed, the redundancy ratio is adjusted according to the change of the network condition. In order to be able to react to network conditions at a smaller time granularity, the algorithm adjusts the redundancy ratio according to the current packet loss probability L every smaller time interval. Considering that the data arrival speed of the KCP is fast in high-speed transmission, the data amount of each round in a time interval is not very different, so that the error correction capability, i.e. the redundancy segment ratio, only needs to be adjusted by changing the value of n. As shown in fig. 3, the redundancy of FEC is adjusted according to the change of the network condition, which specifically includes:
when the network condition is poor, the redundancy of data transmission needs to be improved, and the redundancy cannot be improved only according to the increase of the packet loss rate at one moment in consideration of the randomness of packet loss of each round of data;
when the packet loss rates L rise at three consecutive moments, the situation that the network condition becomes worse can be reflected more accurately, so that the number of redundant data segments is increased when the packet loss rates L rise at 3 consecutive moments;
when the network condition becomes better, the KCP link is more stable, and the packet loss rate L is lower, at this time, the redundancy ratio needs to be reduced to improve the effective rate of data transmission;
when the packet loss rate L is 0, it indicates that no data is lost after transmission, and the redundancy of FEC is 0 at this time, which can effectively save bandwidth.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A radar digital video low-delay high-reliability transmission method based on a KCP protocol is characterized by comprising the following steps:
s1, the sending end packs the radar data frames into more than one KCP packet in sequence, numbers the packets in sequence, and attaches the numbers to the data packets;
s2, when the length of the radar data is larger than the MTU, cutting the frames with the length larger than the MTU in the radar data, blocking and packaging the frames into a plurality of KCP packets, and when the length of the radar data is smaller than the MTU in the MTU, directly packaging the data into the KCP packets;
s3, the transmitting end copies the KCP packet to a transmission buffer area for calling retransmission when transmission fails; the sending end sends the data packets out in sequence and records the initial sending time and the last sending time of each data packet;
s4, dynamically setting parameters of the forward error correction FEC through a redundant segment proportion adjustment algorithm based on packet loss rate statistics to obtain the FEC with self-adaptive redundancy;
s5, coding the KCP data packet by adopting FEC of self-adaptive redundancy to obtain a coded data packet;
s6, transmitting the encoded data packet by adopting a wireless channel UDP;
s7, the receiving end carries out FEC decoding on the data packet;
s8, the receiving end receives the data in the KCP packet and copies the received data to the receiving buffer zone;
s9, the receiving end determines the processing mode of the buffer data according to the sequence number in the KCP packet, the processing mode includes: discard, decode or retransmit;
s10, the receiving end encapsulates the serial number of the received data packet in a confirmation packet at a certain time interval and sends the confirmation packet to the sending end;
and S11, the receiving end packages the analyzed radar video data.
2. The KCP protocol-based radar digital video low-latency high-reliability transmission method according to claim 1, wherein in step S4, the FEC redundancy is adjusted to the network condition by calculating the packet loss rate on the KCP link, where the FEC redundancy is n/(k + n), the information bit length is k, and the check bit length is n.
3. The KCP protocol-based radar digital video low-latency high-reliability transmission method according to claim 2, wherein a packet loss retransmission mechanism of the KCP protocol itself is adopted to calculate a packet loss rate on the KCP link, specifically:
judging the retransmission data segment: the KCP data segments all have data segment serial numbers, so that the retransmitted data segments can be judged through the data segment serial numbers; for each time interval for counting the packet loss rate, recording the sequence number of the first arrived data segment in the time interval as the initial values of the minimum sequence number and the maximum sequence number in the time interval, updating the value of the maximum sequence number in the time interval according to the sequence numbers of the subsequent data segments, and counting the total number of the data segments in the time interval; if the sequence number of the sent data segment is between the current maximum sequence number and the current minimum sequence number, the current sent data segment can be known to be a retransmission data segment according to the numbering rule of the KCP data segment;
calculating the packet loss rate on a KCP link: and changing the number of the lost data segments, and counting the total data segments sent in the time interval and the number of the successfully transmitted data segments by the sending end when the time interval is ended, and calculating to obtain the packet loss rate L on the KCP link.
4. The method for transmitting the radar digital video with low delay and high reliability based on the KCP protocol according to claim 2, wherein the redundancy of the FEC is adjusted to cope with the change of the network condition, specifically as follows:
when the network condition is poor, the redundancy of data transmission needs to be improved, and the redundancy cannot be improved only according to the increase of the packet loss rate at one moment in consideration of the randomness of packet loss of each round of data;
when the packet loss rates L rise at three consecutive moments, the situation that the network condition becomes worse can be reflected more accurately, so that the number of redundant data segments is increased when the packet loss rates L rise at 3 consecutive moments;
when the network condition becomes better, the KCP link is more stable, and the packet loss rate L is lower, at this time, the redundancy ratio needs to be reduced to improve the effective rate of data transmission;
when the packet loss rate L is 0, it indicates that no data is lost after transmission, and the redundancy of FEC is 0 at this time, which can effectively save bandwidth.
5. The method for transmitting radar digital video with low delay and high reliability based on the KCP protocol according to claim 1, wherein in the step S5, the FEC with adaptive redundancy specifically includes:
and adjusting the redundancy of the FEC of the sending end according to the packet loss rate counted by the sending end, reducing the redundancy of the FEC when the packet loss rate is low, improving the bandwidth utilization rate, improving the redundancy of the FEC when the packet loss rate is high, and improving the transmission reliability.
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