CN115396012B - Unmanned aerial vehicle data transmission method, system, electronic equipment and storage medium - Google Patents
Unmanned aerial vehicle data transmission method, system, electronic equipment and storage medium Download PDFInfo
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- CN115396012B CN115396012B CN202211018996.XA CN202211018996A CN115396012B CN 115396012 B CN115396012 B CN 115396012B CN 202211018996 A CN202211018996 A CN 202211018996A CN 115396012 B CN115396012 B CN 115396012B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
- H04W36/0085—Hand-off measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The disclosure provides an unmanned aerial vehicle data transmission method, system, electronic equipment and readable storage medium, so as to solve the problem that the best data transmission effect is difficult to realize in the existing unmanned aerial vehicle transmission, wherein the method comprises the following steps: acquiring the position of the unmanned aerial vehicle and the information of the connected base station, and updating the unmanned aerial vehicle according to a preset period; judging whether the horizontal linear distance between the position of the unmanned aerial vehicle and the base station meets a first preset requirement or not; if not, the tcp protocol is switched to ensure the flight data transmission preferentially, and if so, whether the RSRP value of the current link meets a second preset requirement is judged; if not, switching the link to a standby link, and if so, judging whether the SINR value meets a third preset requirement; if not, the quality of the service data is reduced, and if yes, the data return parameters are configured in a preset mode to carry out service data transmission; after the position update, the above-mentioned judgment is performed again. The stable feedback of the data is ensured, and the optimal transmission effect is realized.
Description
Technical Field
The disclosure relates to the technical field of unmanned aerial vehicle communication, in particular to an unmanned aerial vehicle data transmission method, an unmanned aerial vehicle data transmission system, electronic equipment and a computer readable storage medium.
Background
Aiming at the problem of how to realize high-stability transmission of service data in the low-altitude application process of an unmanned aerial vehicle system, the prior art proposal provides a corresponding adjustment proposal for sensing network quality change around unmanned aerial vehicle carrying network terminal equipment. One of them is to perform operations such as reducing the quality of service data by determining the availability of the instant data link, so as to implement effective backhaul. In another scheme, focusing and formulating access switching among multiple links such as 5G, satellite, point-to-point and the like, and realizing continuous and reliable transmission of service data of unmanned aerial vehicle application in a complex communication environment by automatically switching different accesses.
However, in the existing two schemes, stable feedback of service data is difficult to effectively ensure, in the first scheme, the characteristics of high moving speed, frequent station switching, air chain Lewis change and the like of unmanned aerial vehicle application are not comprehensively considered, and each service sub-module in the serial unmanned aerial vehicle system is difficult to effectively cooperate, so that the service effect of the unmanned aerial vehicle application in a low-altitude complex environment is practically ensured; in the second scheme, the available access modes are only selected by comparing different links, and deep judgment is not performed according to the quality of the selected links, so that the best data transmission effect is difficult to realize effectively.
Disclosure of Invention
In order to solve the technical problems in the prior art, the disclosure provides an unmanned aerial vehicle data transmission method, an unmanned aerial vehicle data transmission system, electronic equipment and a computer readable storage medium, which can perform optimal configuration of application data and realize stable transmission of service data applied by an unmanned aerial vehicle system.
In a first aspect, the present disclosure provides a method for data transmission of a drone, the method comprising:
acquiring the position of the unmanned aerial vehicle and the information of a base station connected with the unmanned aerial vehicle, and updating the information in a preset period;
judging whether the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station meets a first preset requirement or not;
if the horizontal straight line distance does not meet the first preset requirement, a tcp (Transmission Control Protocol ) protocol is switched to ensure the flight data transmission preferentially, and if the horizontal straight line distance meets the first preset requirement, whether the RSRP (Reference Signal Receiving Power, reference signal received power) value of the current link meets the second preset requirement is further judged;
if the RSRP value does not meet the second preset requirement, switching the transmission link to a standby link and terminating the returning of the service data, and if the RSRP value meets the second preset requirement, further judging whether the SINR (Signal to Interference plus Noise Ratio ) value of the current link meets a third preset requirement;
if the SINR value does not meet the third preset requirement, reducing the quality of the service data to be transmitted for data transmission, and if the SINR value meets the third preset requirement, configuring a data return parameter according to a preset mode for service data transmission;
and after the unmanned aerial vehicle position is updated, the horizontal linear distance between the unmanned aerial vehicle position and the access base station is judged again.
Further, the method further comprises:
after judging that the SINR value of the current link meets the third preset requirement, further judging whether the packet loss rate of the service data meets the fourth preset requirement;
if the packet loss rate does not meet the fourth preset requirement, returning to re-judge the SINR value;
if the packet loss rate meets the fourth preset requirement, judging whether the uplink rate meets the edge rate requirement under the corresponding definition, if the uplink rate does not meet the requirement, increasing the key frame interval, reducing the data size, and if the uplink rate meets the requirement, configuring the data return parameters according to the preset optimal mode.
Further, the method further comprises:
the first preset requirement is that the distance is less than X kilometers; the second preset requirement is that the RSRP value is larger than YdBm; the third preset requirement is that the SINR value is larger than ZdB;
wherein X is more than 0km and less than or equal to the coverage radius of the current service base station; -115dBm < Y < minus 105dBm; z is more than or equal to 0dB and less than or equal to 15dB.
Further, the method further comprises:
the fourth preset requirement is that the packet loss rate is less than 1%.
Further, the reducing the quality of the service data to be transmitted includes:
reducing video code rate, altering coding standards, and reducing sharpness.
Further, the expiration of the preset period of time is sufficient to satisfy the following requirements:
the preset period is less than or equal to 1s and less than or equal to the coverage radius of the current service base station/the maximum moving speed of the unmanned aerial vehicle.
In a second aspect, the present disclosure provides an unmanned aerial vehicle data transmission system, the unmanned aerial vehicle data transmission system including an unmanned aerial vehicle, the unmanned aerial vehicle includes:
the updating module is used for acquiring the position of the unmanned aerial vehicle and the information of the base station connected with the unmanned aerial vehicle and updating the position and the information of the base station in a preset period;
the first judging module is used for judging whether the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station meets a first preset requirement or not;
the first switching module is arranged to switch the tcp protocol to ensure the flight data transmission preferentially if the horizontal straight line distance does not meet the first preset requirement;
the second judging module is configured to further judge whether the RSRP value of the current link meets a second preset requirement if the horizontal straight line distance meets the first preset requirement;
the second switching module is configured to switch the transmission link to the standby link and terminate the return of the service data if the RSRP value does not meet the second preset requirement;
the third judging module is configured to further judge whether the SINR value of the current link meets a third preset requirement if the RSRP value meets the second preset requirement;
the data processing module is configured to reduce the quality of the service data to be transmitted for data transmission if the SINR value does not meet the third preset requirement;
the transmission module is configured to configure data return parameters according to a preset mode to perform service data transmission if the SINR value meets the third preset requirement;
the first judging module is further configured to re-judge the horizontal linear distance between the unmanned aerial vehicle position and the access base station after the unmanned aerial vehicle position is updated.
Further, the unmanned aerial vehicle further comprises a fourth judging module and a fifth judging module:
the fourth judging module is configured to further judge whether the packet loss rate of the service data meets a fourth preset requirement after the third judging module judges that the SINR value of the current link meets the third preset requirement;
the third judging module is further configured to return to re-judge the SINR value if the packet loss rate does not meet the fourth preset requirement;
the fifth judging module is configured to judge whether the uplink rate meets the edge rate requirement under the corresponding definition if the packet loss rate meets the fourth preset requirement;
the data processing module is further configured to increase the key frame interval and reduce the data size if the uplink rate does not meet the requirement;
the data transmission module is further configured to configure data transmission parameters according to a preset optimal mode if the uplink rate meets the requirement.
In a third aspect, the present disclosure provides an electronic device comprising a memory and a processor, the memory having stored therein a computer program, which when executed by the processor performs the unmanned aerial vehicle data transmission method according to any of the first aspects.
In a fourth aspect, the present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the unmanned aerial vehicle data transmission method of any of the first aspects above.
The beneficial effects are that:
according to the unmanned aerial vehicle data transmission method, the unmanned aerial vehicle data transmission system, the electronic equipment and the computer readable storage medium, unmanned aerial vehicle position information is combined to judge availability and quality of an unmanned aerial vehicle data transmission low-altitude network, RSRP, SINR and other data are used as references, and the quality parameters of video service data which are the most important in unmanned aerial vehicle application are intelligently adjusted, so that effective coordination of modules such as flight control, load and airborne terminals in the unmanned aerial vehicle system is realized, and stable and reliable feedback of the data in the application is ensured.
Drawings
Fig. 1 is a schematic flow chart of a data transmission method of an unmanned aerial vehicle according to a first embodiment of the disclosure;
fig. 2 is a flow chart of a data transmission method of an unmanned aerial vehicle according to a second embodiment of the disclosure;
fig. 3 is a schematic diagram of a unmanned aerial vehicle according to a third embodiment of the present disclosure;
fig. 4 is a schematic diagram of an electronic device according to a fourth embodiment of the disclosure.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present disclosure, the present disclosure will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments and figures described herein are merely illustrative of the invention, and are not limiting of the invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order; moreover, embodiments of the present disclosure and features of embodiments may be arbitrarily combined with each other without conflict.
Wherein the terminology used in the embodiments of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present disclosure, and are not of specific significance per se. Thus, "module," "component," or "unit" may be used in combination.
At present, the traditional unmanned aerial vehicle mainly faces the restriction of core pain point problems such as limited measurement and control flight range, difficult high-stability data transmission, insufficient wide-supervision total management and the like, and the development of industry and related fields is difficult to match with the actual requirements under the acceleration of the market all the time. It can be said that the development of unmanned aerial vehicle applications is eagerly calling for new situations that are inherently stubborn by technological innovations. On the other hand, in the macroscopic background of the current strong push to new infrastructure, 5G technology is beyond imagination from being announced that formally commercial to the progress of innovative extension towards the multiple vertical industries. The 5G technology rapidly conquers a plurality of industries looking for innovative and turning favorable handles by the outstanding advantages of large bandwidth, low delay, wide connection, interference resistance and the like, and the unmanned aerial vehicle industry application is one of them. The 5G technology can naturally endow the unmanned aerial vehicle with four core capabilities of stable transmission, remote control, state monitoring and accurate positioning required by application. Among them, the highly reliable transmission of data in low space has been the most direct and fundamental requirement for unmanned aerial vehicle industry application. Therefore, how to realize stable feedback of service data in the unmanned aerial vehicle application process becomes an important problem to be overcome in the current development, although a corresponding adjustment scheme for sensing network quality change around the unmanned aerial vehicle carried network terminal equipment is proposed at present, the characteristics of high moving speed, frequent station switching, air chain Lewis change and the like of the unmanned aerial vehicle application are not comprehensively considered in the prior art; and when the multi-link access link is switched, deep judgment is not carried out according to the quality of the selected link, so that the optimal data transmission effect is difficult to realize effectively.
The following describes the technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems existing in the prior art in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 1 is a schematic diagram of a data transmission method of an unmanned aerial vehicle according to a first embodiment of the present disclosure, as shown in fig. 1, where the method includes:
step S101: acquiring the position of the unmanned aerial vehicle and the information of a base station connected with the unmanned aerial vehicle, and updating the information in a preset period;
step S102: judging whether the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station meets a first preset requirement or not;
step S103: if the horizontal straight line distance does not meet the first preset requirement, switching a transmission control protocol tcp protocol to ensure the flight data transmission preferentially, and if the horizontal straight line distance meets the first preset requirement, further judging whether the RSRP value of the reference signal received power of the current link meets the second preset requirement;
step S104: if the RSRP value does not meet the second preset requirement, switching the transmission link to a standby link and stopping the returning of the service data, and if the RSRP value meets the second preset requirement, further judging whether the signal-to-interference-plus-noise ratio SINR value of the current link meets a third preset requirement;
step S105: if the SINR value does not meet the third preset requirement, reducing the quality of the service data to be transmitted for data transmission, and if the SINR value meets the third preset requirement, configuring a data return parameter according to a preset mode for service data transmission;
step S106: and after the unmanned aerial vehicle position is updated, the horizontal linear distance between the unmanned aerial vehicle position and the access base station is judged again.
The unmanned aerial vehicle generally requires shooting videos and transmitting the videos back to a user side or a service side when executing tasks, in the data transmission process, how to ensure stability and reliability of data in application becomes a key problem, the unmanned aerial vehicle generally needs to fly long distances in the task execution process, therefore, the unmanned aerial vehicle can be connected to different base stations when flying, the distance from the base stations is continuously changed, stability of a transmission link is difficult to ensure, in this embodiment, by acquiring information of the unmanned aerial vehicle position and the base stations connected with the unmanned aerial vehicle and updating the information in a preset period, the unmanned aerial vehicle position information comprises longitude and latitude, altitude, relative ground flying speed and the like, whether the horizontal straight line distance between the unmanned aerial vehicle position and an access base station meets a first preset requirement is judged, the first preset requirement can be that the unmanned aerial vehicle is still in the coverage range of a current service base station, or is a position (such as in the range of 3/4 of the coverage of the service base station), if the unmanned aerial vehicle is not, the transmission link flying problem possibly existing in a switching base station is not ensured, the transmission flight data is ensured preferentially by switching p protocols, the unmanned aerial vehicle position information is ensured, and after the unmanned aerial vehicle is controlled to be updated, and the unmanned aerial vehicle position information is ensured. If the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station meets a first preset requirement, namely, if the unmanned aerial vehicle is in the coverage range of the current base station or in a range close to the base station, further judging whether the RSRP value of the current link meets a second preset requirement; the second preset requirement can be set according to actual conditions, the current connection link is indicated to be available when the second preset requirement is met, if the RSRP value does not meet the second preset requirement, the current connection is proved to be unavailable, the airborne terminal switches the standby link (such as point-to-point microwave) in time, only flight data is transmitted, and the back transmission of service data is terminated; if the RSRP value meets the second preset requirement, then judging whether the SINR value meets the third preset requirement, wherein the third preset requirement can be set according to the actual situation, the third preset requirement can be expressed as that the signal quality is normal, if the third preset requirement is not met, the current link quality is poor, the data transmission is performed by reducing the quality of the service data to be transmitted, if the current link quality is not met, the data transmission can be performed normally, the data transmission parameters can be configured according to the preset mode, and the data transmission can be performed according to the general normal definition and the coding rate. And after the position of the unmanned aerial vehicle is updated, restarting to carry out the judgment, and determining the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station again.
According to the embodiment of the disclosure, the availability and quality of the unmanned aerial vehicle data transmission low-altitude network are judged by combining the unmanned aerial vehicle position information, RSRP, SINR and other data are used as references, and the quality parameters of the video service data which are the most important in unmanned aerial vehicle application are intelligently adjusted, so that effective coordination of modules such as flight control, load and airborne terminals in an unmanned aerial vehicle system is realized, and stable and reliable feedback of the data in the application is ensured.
Further, the method further comprises:
after judging that the SINR value of the current link meets the third preset requirement, further judging whether the packet loss rate of the service data meets the fourth preset requirement;
if the packet loss rate does not meet the fourth preset requirement, returning to re-judge the SINR value;
if the packet loss rate meets the fourth preset requirement, judging whether the uplink rate meets the edge rate requirement under the corresponding definition, if the uplink rate does not meet the requirement, increasing the key frame interval, reducing the data size, and if the uplink rate meets the requirement, configuring the data return parameters according to the preset optimal mode.
After judging that the SINR value of the current link meets the third preset requirement, further judging whether the packet loss rate of the service data meets the fourth preset requirement, wherein the packet loss rate refers to the ratio of the number of lost data packets to the transmitted data group in the test, and generally, the packet loss rate meeting the fourth preset requirement proves that the information (RSRP, SINR) of the first two is accurate, and if the packet loss rate is larger than the SINR value, the judgment is returned; judging the minimum rate requirement of the transmission of the video with the definition of 1080P, 4K and the like at the edge according to the packet loss rate meeting the requirement, if the minimum rate requirement is smaller than the minimum rate requirement, increasing the key frame interval and reducing the data size; if the uplink rate meets the requirement, the data backhaul parameters, such as telemetry data transmission protocol, priority UDP, service data-video, coding mode H.264, maximum code rate, reduced key frame interval, etc., are configured according to a preset optimal mode.
By increasing the confirmation of the packet loss rate and the instant transmission rate, the link quality of data transmission can be considered more carefully by intelligently adjusting the parameters such as the code rate, the resolution, the coding standard, the key frame interval and the like of the video service data which are the most important in the unmanned aerial vehicle application, different service quality transmission modes are determined, the effective coordination of modules such as flight control, load and an airborne terminal in the unmanned aerial vehicle system is realized, the stable and reliable feedback of the data in the application is ensured, and the optimal data transmission effect is realized.
Further, the method further comprises:
the first preset requirement is that the distance is less than X kilometers; the second preset requirement is that the RSRP value is larger than YdBm; the third preset requirement is that the SINR value is larger than ZdB;
wherein X is more than 0km and less than or equal to the coverage radius of the current service base station; -115dBm < Y < minus 105dBm; z is more than or equal to 0dB and less than or equal to 15dB.
When the unmanned aerial vehicle uses a 5G communication link to carry out data transmission, according to 5G PCI information and data transmission characteristics, setting a first preset requirement to be less than X kilometers, setting a second preset requirement to be more than YdBm in RSRP value, setting a third preset requirement to be more than ZdB in SINR value, and setting 0km < X less than or equal to the coverage radius of a current service base station; -115dBm < Y < minus 105dBm; the value of 0 db.ltoreq.z.ltoreq.15 dB may take any value therein, and of course, for X, Y and Z, in the present disclosure, different ranges may be set according to the difference of transmission data.
Further, the method further comprises:
the fourth preset requirement is that the packet loss rate is less than 1%.
Setting the fourth preset requirement to be less than 1% of packet loss rate, if the packet loss rate is greater than 1%, indicating that the network is abnormal, and if the packet loss rate is less than 1%, performing SINR judgment again, and if the packet loss rate is less than 1%, performing uplink rate judgment.
Further, the reducing the quality of the service data to be transmitted includes:
reducing video code rate, altering coding standards, and reducing sharpness.
The code rate, resolution, coding standard and definition of the video service data which are the most important in unmanned aerial vehicle application are adjusted, so that the video data with high quality can be transmitted back as far as possible under the condition of ensuring the stability of data transmission.
Further, the expiration of the preset period of time is sufficient to satisfy the following requirements:
the preset period is less than or equal to 1s and less than or equal to the coverage radius of the current service base station/the maximum moving speed of the unmanned aerial vehicle.
The maximum speed of the unmanned aerial vehicle is calculated by referring to the vacuum speed classification content in GB T35018-2018 civil unmanned aerial vehicle system classification and grading, the preset period can be set independently in the range, the update period can be regulated according to the network quality, and when the transmission link quality is poor, the period is shortened, so that the optimal data transmission effect is realized by better determining the transmission mode.
According to the embodiment of the disclosure, the availability and quality of a low-altitude network are judged by combining the position information of the unmanned aerial vehicle, the data such as RSRP and SINR are used as references, the confirmation of the packet loss rate and the instant transmission rate is increased, the intelligent adjustment is carried out on the parameters such as the code rate, the resolution, the coding standard and the key frame interval of the video service data which are the most important in the unmanned aerial vehicle application, the effective coordination of modules such as flight control, load and airborne terminals in the unmanned aerial vehicle system is realized, the stable and reliable feedback of the data in the application is ensured, and the optimal data transmission effect is realized.
In order to more clearly and completely describe the technical solution of the present disclosure, a second embodiment of the present disclosure provides a data transmission method for an unmanned aerial vehicle, as shown in fig. 2, where the method includes;
step 1: determining the real-time position of the unmanned aerial vehicle, including longitude and latitude, altitude, relative ground flying speed and 5G PCI information, updating once every T seconds (T is more than or equal to 1s and less than or equal to the current coverage radius of a service base station/the maximum moving speed of the unmanned aerial vehicle, and the maximum moving speed of the unmanned aerial vehicle refers to the content classified based on vacuum speed in GB T35018-2018 civil unmanned aircraft System Classification and classification);
step 2: judging the availability and quality of a current 5G communication link, wherein the method specifically comprises the steps of judging whether the horizontal linear distance between an access PCI base station and an unmanned aerial vehicle is smaller than X kilometers, judging whether an RSRP value is larger than YdBm, judging whether an SINR value is larger than ZdB, judging whether the packet loss rate of video data is smaller than 1%, judging whether the uplink rate meets the edge rate standard under the corresponding definition, and the like; ( X is more than 0km and less than or equal to the coverage radius of the current service base station; -115dBm < Y < minus 105dBm; z is more than or equal to 0dB and less than or equal to 15dB; )
Step 2.1: judging whether the horizontal linear distance between the access PCI base station and the unmanned aerial vehicle is smaller than X kilometers;
step 2.1.1: if the distance is greater than X kilometers, aiming at the possible link jitter problem of the station switching, switching tcp protocol to ensure transmission of flight data preferentially, and after the position information of the unmanned aerial vehicle is updated for T seconds, performing step 1 and judging;
step 2.2: if the distance is smaller than X kilometers, judging whether the RSRP value is larger than YdBm or not;
step 2.2.1: if the RSRP value is smaller than YdBm, switching a standby link (such as point-to-point microwave) by the airborne terminal in time, transmitting only flight data, terminating the back transmission of service video data, and carrying out step 1 again after the position is updated;
step 2.3: if the RSRP value is larger than YdBm, judging whether the SINR value is larger than ZdB;
step 2.3.1: if the SINR value is smaller than the value, the current 5G link quality is poor, continuous stable feedback of data is realized by reducing the video code rate, changing the coding standard and reducing the definition, and the step 1 is carried out again after the position is updated;
step 2.4: the SINR value is larger than ZdB, whether the packet loss rate of the video data is smaller than 1% or not is judged, if so, the information of the video data and the SINR value is accurate, and if so, the SINR value is returned to be judged;
step 2.5: if the packet loss rate of the video data is less than 1%, judging whether the uplink rate meets the requirement according to the minimum rate requirement of the transmission of the definition video such as 1080P, 4K and the like at the edge;
step 2.5.1: if the uplink rate is smaller than the requirement, increasing the key frame interval, reducing the data size, and carrying out the step 1 again after the position is updated;
step 3: the data backhaul parameters (telemetry data transmission protocol: priority UDP, traffic data-video: coding mode h.264, maximum code rate, reduced key frame interval, etc.) are configured in an optimal manner.
According to the embodiment of the disclosure, the horizontal linear distance between the unmanned aerial vehicle position and the 5G access base station is determined, the transmission protocol is self-adjusted, the stable return of the flight data is preferentially ensured, key parameters such as RSRP, SINR, packet loss rate and uplink transmission rate are judged one by one, the optimal configuration of application data is carried out, and the stable transmission effect of the service data applied to the 5G unmanned aerial vehicle system is realized.
The third embodiment of the disclosure provides an unmanned aerial vehicle data transmission system, unmanned aerial vehicle data transmission system includes unmanned aerial vehicle, as shown in fig. 3, unmanned aerial vehicle includes:
the updating module 11 is configured to acquire information of the unmanned aerial vehicle position and a base station connected with the unmanned aerial vehicle, and update the information in a preset period;
a first judging module 12, configured to judge whether the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station meets a first preset requirement;
a first switching module 13 configured to switch tcp protocols to ensure flight data transmission in preference if the horizontal straight line distance does not meet the first preset requirement;
a second judging module 14, configured to further judge whether the RSRP value of the current link meets the second preset requirement if the horizontal straight line distance meets the first preset requirement;
a second switching module 15, configured to switch the transmission link to the standby link and terminate the backhaul of the service data if the RSRP value does not meet the second preset requirement;
a third judging module 16, configured to further judge whether the SINR value of the current link meets a third preset requirement if the RSRP value meets the second preset requirement;
a data processing module 17 configured to reduce the quality of the service data to be transmitted for data transmission if the SINR value does not meet the third preset requirement;
a transmission module 18 configured to configure the data backhaul parameter for service data transmission according to a preset manner if the SINR value meets the third preset requirement;
the first judging module 12 is further configured to re-perform the horizontal linear distance judgment between the position of the unmanned aerial vehicle and the access base station after the position of the unmanned aerial vehicle is updated.
Further, the unmanned aerial vehicle further includes a fourth judging module 19, a fifth judging module 20:
the fourth determining module 19 is configured to further determine whether the packet loss rate of the service data meets a fourth preset requirement after the third determining module 16 determines that the SINR value of the current link meets the third preset requirement;
the third judging module 16 is further configured to return to re-judge the SINR value if the packet loss rate does not meet the fourth preset requirement;
the fifth judging module 20 is configured to judge whether the uplink rate meets the edge rate requirement under the corresponding definition if the packet loss rate meets the fourth preset requirement;
the data processing module 17 is further configured to increase the key frame interval and decrease the data size if the uplink rate does not meet the requirement;
the transmission module 18 is further configured to configure the data transmission parameters according to a preset optimal mode if the uplink rate meets the requirement.
Further, the method comprises the steps of,
the first preset requirement is that the distance is less than X kilometers; the second preset requirement is that the RSRP value is larger than YdBm; the third preset requirement is that the SINR value is larger than ZdB;
wherein X is more than 0km and less than or equal to the coverage radius of the current service base station; -115dBm < Y < minus 105dBm; z is more than or equal to 0dB and less than or equal to 15dB.
Further, the method comprises the steps of,
the fourth preset requirement is that the packet loss rate is less than 1%.
Further, the data processing module 17 is specifically configured to reduce the video rate, change the coding standard, and reduce the sharpness of the service data.
Further, the expiration of the preset period of time is sufficient to satisfy the following requirements:
the preset period is less than or equal to 1s and less than or equal to the coverage radius of the current service base station/the maximum moving speed of the unmanned aerial vehicle.
The unmanned aerial vehicle data transmission system in the embodiment of the present disclosure is used for implementing the unmanned aerial vehicle data transmission method in the first and second embodiments of the method, so that the description is simpler, and the detailed description can be referred to in the first and second embodiments of the method, and the detailed description is omitted here.
In addition, as shown in fig. 4, the fourth embodiment of the present disclosure further provides an electronic device, including a memory 100 and a processor 200, where the memory 100 stores a computer program, and when the processor 200 runs the computer program stored in the memory 100, the processor 200 executes the above possible methods.
The memory 100 is connected to the processor 200, the memory 100 may be a flash memory, a read-only memory, or other memories, and the processor 200 may be a central processing unit or a single chip microcomputer.
Furthermore, embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a computer program that is executed by a processor to perform the various possible methods described above.
Computer-readable storage media include volatile or nonvolatile, removable or non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, computer program modules or other data. Computer-readable storage media includes, but is not limited to, RAM (Random Access Memory ), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory, charged erasable programmable Read-Only Memory), flash Memory or other Memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disks (DVD, digital Video Disc) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer.
It is to be understood that the above embodiments are merely exemplary embodiments employed to illustrate the principles of the present disclosure, however, the present disclosure is not limited thereto. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the disclosure, and are also considered to be within the scope of the disclosure.
Claims (10)
1. A method for data transmission in an unmanned aerial vehicle, the method comprising:
acquiring the position of the unmanned aerial vehicle and the information of a base station connected with the unmanned aerial vehicle, and updating the information in a preset period;
judging whether the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station meets a first preset requirement or not;
if the horizontal straight line distance does not meet the first preset requirement, switching a transmission control protocol tcp protocol to ensure the flight data transmission preferentially, and if the horizontal straight line distance meets the first preset requirement, further judging whether the RSRP value of the reference signal received power of the current link meets the second preset requirement;
if the RSRP value does not meet the second preset requirement, switching the transmission link to a standby link and stopping the returning of the service data, and if the RSRP value meets the second preset requirement, further judging whether the signal-to-interference-plus-noise ratio SINR value of the current link meets a third preset requirement;
if the SINR value does not meet the third preset requirement, reducing the quality of the service data to be transmitted for data transmission, and if the SINR value meets the third preset requirement, configuring a data return parameter according to a preset mode for service data transmission;
and after the unmanned aerial vehicle position is updated, the horizontal linear distance between the unmanned aerial vehicle position and the access base station is judged again.
2. The data transmission method according to claim 1, characterized in that the method further comprises:
after judging that the SINR value of the current link meets the third preset requirement, further judging whether the packet loss rate of the service data meets the fourth preset requirement;
if the packet loss rate does not meet the fourth preset requirement, returning to re-judge the SINR value;
if the packet loss rate meets the fourth preset requirement, judging whether the uplink rate meets the edge rate requirement under the corresponding definition, if the uplink rate does not meet the requirement, increasing the key frame interval, reducing the data size, and if the uplink rate meets the requirement, configuring the data return parameters according to the preset optimal mode.
3. The data transmission method according to claim 1 or 2, characterized in that the method further comprises:
the first preset requirement is that the distance is less than X kilometers; the second preset requirement is that the RSRP value is larger than YdBm; the third preset requirement is that the SINR value is larger than ZdB;
wherein X is more than 0km and less than or equal to the coverage radius of the current service base station; -115dBm < Y < minus 105dBm; z is more than or equal to 0dB and less than or equal to 15dB.
4. The data transmission method according to claim 2, characterized in that the method further comprises:
the fourth preset requirement is that the packet loss rate is less than 1%.
5. The data transmission method according to claim 2, wherein the reducing the quality of the service data to be transmitted comprises:
reducing video code rate, altering coding standards, and reducing sharpness.
6. The data transmission method according to claim 1, wherein the expiration of the preset period is sufficient for the following requirements:
the preset period is less than or equal to 1s and less than or equal to the coverage radius of the current service base station/the maximum moving speed of the unmanned aerial vehicle.
7. Unmanned aerial vehicle data transmission system, its characterized in that, unmanned aerial vehicle data transmission system includes unmanned aerial vehicle, unmanned aerial vehicle includes:
the updating module is used for acquiring the position of the unmanned aerial vehicle and the information of the base station connected with the unmanned aerial vehicle and updating the position and the information of the base station in a preset period;
the first judging module is used for judging whether the horizontal linear distance between the position of the unmanned aerial vehicle and the access base station meets a first preset requirement or not;
the first switching module is arranged to switch the tcp protocol to ensure the flight data transmission preferentially if the horizontal straight line distance does not meet the first preset requirement;
the second judging module is configured to further judge whether the RSRP value of the current link meets a second preset requirement if the horizontal straight line distance meets the first preset requirement;
the second switching module is configured to switch the transmission link to the standby link and terminate the return of the service data if the RSRP value does not meet the second preset requirement;
the third judging module is configured to further judge whether the SINR value of the current link meets a third preset requirement if the RSRP value meets the second preset requirement;
the data processing module is configured to reduce the quality of the service data to be transmitted for data transmission if the SINR value does not meet the third preset requirement;
the transmission module is configured to configure data return parameters according to a preset mode to perform service data transmission if the SINR value meets the third preset requirement;
the first judging module is further configured to re-judge the horizontal linear distance between the unmanned aerial vehicle position and the access base station after the unmanned aerial vehicle position is updated.
8. The unmanned aerial vehicle data transmission system of claim 7, wherein the unmanned aerial vehicle further comprises a fourth determination module, a fifth determination module:
the fourth judging module is configured to further judge whether the packet loss rate of the service data meets a fourth preset requirement after the third judging module judges that the SINR value of the current link meets the third preset requirement;
the third judging module is further configured to return to re-judge the SINR value if the packet loss rate does not meet the fourth preset requirement;
the fifth judging module is configured to judge whether the uplink rate meets the edge rate requirement under the corresponding definition if the packet loss rate meets the requirement;
the data processing module is further configured to increase the key frame interval and reduce the data size if the uplink rate does not meet the requirement;
the transmission module is further configured to configure the data backhaul parameter according to a preset optimal mode if the uplink rate meets the requirement.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor performs the unmanned aerial vehicle data transmission method of any of claims 1-6 when the processor runs the computer program stored in the memory.
10. A computer-readable storage medium, comprising: computer program which, when run on a computer, causes the computer to perform the unmanned aerial vehicle data transmission method according to any of claims 1-6.
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| PCT/CN2023/111910 WO2024041381A1 (en) | 2022-08-24 | 2023-08-09 | Unmanned aerial vehicle data transmission method and system, electronic device, and storage medium |
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| CN116131922B (en) * | 2023-02-15 | 2023-10-31 | 广州爱浦路网络技术有限公司 | Control link switching method, electronic equipment and system |
| CN117395747B (en) * | 2023-12-13 | 2024-03-15 | 思翼科技（深圳）有限公司 | Unmanned aerial vehicle remote control networking method and system |
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