CN117354054A - Unmanned aerial vehicle geological mapping data transmission method and system - Google Patents
Unmanned aerial vehicle geological mapping data transmission method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for transmitting geological mapping data of an unmanned aerial vehicle, which relate to the technical field of data transmission and solve the problem that the transmission safety of the data cannot be guaranteed because a better encryption processing mode is not set in the transmission process of the data.
Description
Technical Field
The invention relates to the technical field of data transmission, in particular to a method and a system for transmitting geological mapping data of an unmanned aerial vehicle.
Background
Unmanned plane is called unmanned plane for short, is unmanned plane that utilizes radio remote control equipment and self-contained program control device to operate, or by on-vehicle computer completely or intermittently independently operate, in some complicated areas, need to adopt appointed unmanned plane to survey and draw, and confirm geological survey data, and carry out data transmission.
The application with the patent publication number of CN116261121B discloses a method and a system for transmitting geological mapping data of an unmanned aerial vehicle, wherein the method comprises the following steps: detecting the communication intensity between the ground receiver and the mapping unmanned aerial vehicle, and calling a mapping route of the corresponding mapping unmanned aerial vehicle when the communication intensity is equal to a set intensity value; judging whether the corresponding surveying unmanned aerial vehicle is continuously far away from the ground receiver according to the surveying route, and when yes, marking the surveying unmanned aerial vehicle as an unstable communication unmanned aerial vehicle and marking other surveying unmanned aerial vehicles as stable communication unmanned aerial vehicles; invoking a mapping route of the unstable communication unmanned aerial vehicle, and determining information of the middle communication unmanned aerial vehicle according to the mapping route; the data transmission is carried out between the unstable communication unmanned aerial vehicle and the corresponding intermediate communication unmanned aerial vehicle, and the data transmission is carried out between the intermediate communication unmanned aerial vehicle and the ground receiver; so through setting up one or more intermediate communication unmanned aerial vehicle, guaranteed survey and drawing unmanned aerial vehicle's geological survey data can obtain stable transmission.
In the mapping process of the unmanned aerial vehicle, the data transmission path is in an unencrypted state, so that the data is easy to be stolen in the data transmission process, the data of the mapping is known in advance by other personnel, and the transmission safety of the data cannot be ensured because a better encryption processing mode is not set in the data transmission process.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method and a system for transmitting geological mapping data of an unmanned aerial vehicle, which solve the problem that the transmission safety of the data cannot be ensured because a better encryption processing mode is not arranged in the transmission process of the data.
In order to achieve the above purpose, the invention is realized by the following technical scheme: an unmanned aerial vehicle geological mapping data transmission system, comprising:
the hierarchical data determining end is used for determining mapping data generated in the geological mapping process of the unmanned aerial vehicle and determining the mapping data of the same hierarchical stage according to the limitation of the hierarchical period, wherein the hierarchical period is a preset period;
the format partition marking end performs format confirmation on the determined mapping data, performs partition integration on the image data and the parameter data corresponding to the inside to obtain a parameter data packet and an image data packet belonging to the stage, and sets a mark at a partition node in the specific mode that:
extracting image data existing in the interior from mapping data, and marking the extracted image data with a mark T i Wherein i represents different image data and fills in corresponding marks T at the extraction position i ；
Integrating the extracted image data into an image data packet, integrating the mapping data extracted from the image data into a parameter data packet, transmitting the processed image data packet into a data packet encryption end, and transmitting the processed parameter data packet into the image packet encryption end;
the data packet encryption end is used for receiving the parameter data packet, integrally encrypting the parameter data in the parameter data packet by adopting a discontinuous compression hiding mode, and transmitting the encrypted parameter data packet to the frequency transmission parameter confirmation end, wherein the specific mode is as follows:
confirming separators among different data streams in a parameter data packet, and digitally marking the confirmed data streams in a plurality of groups according to the sequence, wherein the number is K, and K=1, 2, … … and n;
compressing the data stream with even number of the digital mark K in the parameter data packet, and transmitting the compressed and encrypted parameter data packet to a frequency transmission parameter confirmation end after the compression is finished;
the image packet encryption end receives the image data packet, and according to the specific number of the single group of images in the image data packet, an encryption template is drawn, and the single group of images in the image data packet are encrypted according to the encryption template, wherein the specific mode is as follows:
s1, marking the specific number of the internal single-group images as G, adjusting the partition space in the encryption template, if G is an even number, executing the step S2, and if G is an odd number, executing the step S3, wherein the number of the partition space is consistent with G, and the encryption template is a group of encryption circles;
s2, sequentially arranging single-group images in the image data packet outside corresponding encryption template partition spaces, calibrating image parameters in the single-group images to be single-group parameters, calibrating adjacent partition spaces of the single-group images to be adjacent intervals in a clockwise direction, calibrating diagonal partition spaces of the adjacent intervals to be a to-be-stored space, placing the single-group parameters of the single-group images in the to-be-stored space for storage, sequentially processing subsequent single-group images, sequentially storing G single-group parameters, and completing the encryption process of the whole image data packet;
s3, sequentially arranging single-group images in the image data packet outside the corresponding encryption template partition space, extracting image parameters in the single-group images, calibrating the adjacent partition space of the single-group images as a neighboring region, determining a group of regions around the neighboring region according to the clockwise trend and calibrating the regions as a to-be-stored space, placing the single-group parameters of the single-group images in the to-be-stored space for storage, sequentially processing the subsequent single-group images, sequentially storing G single-group parameters, and completing the encryption process of the whole image data packet;
the frequency transmission parameter confirmation end extracts transmission frequency parameters and corresponding packet loss rates from the database, analyzes and confirms the packet loss rates generated when the unmanned aerial vehicle is in different transmission frequency parameter states, and accordingly locks the optimal transmission frequency, and the specific mode is as follows:
a specific numerical value of a transmission frequency parameter is taken as a transverse coordinate axis, a specific numerical value of a packet loss rate is taken as a vertical coordinate axis, a group of two-dimensional coordinate systems is constructed, corresponding point positions are determined in the two-dimensional coordinate systems according to the extracted specific parameters, and a plurality of groups of point positions are connected to construct a packet loss rate change curve;
sequentially confirming fluctuation points in the change curve of the packet loss rate, wherein the curves on the front side and the back side of the fluctuation points are opposite in trend, and if one side of the curve is a climbing trend and the other side of the curve is a descending trend, the point positions between the two groups of curves belong to the fluctuation points, and sequentially confirming a plurality of fluctuation points in the change curve of the packet loss rate;
calibrating a transmission frequency parameter corresponding to the minimum value of the packet loss rate into a limiting parameter, and if only one group of minimum value of the packet loss rate exists, directly calibrating the limiting parameter into the optimal transmission frequency;
if the minimum value of the packet loss rate has a plurality of groups, locking fluctuation points on two sides of the point, calibrating a change curve included between the fluctuation points on two sides as a curve to be analyzed, determining a plurality of slope values appearing in the curve to be analyzed, performing absolute value processing on the determined plurality of groups of slope values, performing mean value processing to obtain a processing mean value JZ, determining the minimum value from the processing mean values JZ corresponding to the plurality of groups of curves to be analyzed, calibrating the minimum value as an optimal curve, and calibrating the minimum value corresponding to the optimal curve as an optimal transmission frequency;
the optimal transmission frequency is transmitted to the control terminal.
Preferably, the control terminal uses the optimal transmission frequency as the transmission frequency, and transmits the processed parameter data packet and the encryption template in the same stage to the receiving end.
Preferably, the unmanned aerial vehicle geological mapping data transmission method comprises the following steps:
step one, confirming mapping data in the same stage and dividing the mapping data into an image data packet and a parameter data packet;
secondly, encrypting the parameter data packet by adopting a compression hiding processing mode, and converting the image data packet into an encryption template by adopting an encryption template image parameter exchange mode;
step three, acquiring the transmission frequency and the corresponding packet loss rate of the unmanned aerial vehicle from a database, constructing a corresponding packet loss rate change curve, selecting a minimum value from the packet loss rate change curve, carrying out trend analysis if a plurality of groups of minimum values appear, and selecting a group of curves with the most stable trend, thereby determining the optimal transmission frequency of the corresponding unmanned aerial vehicle;
and step four, determining a transmission working frequency according to the optimal transmission frequency, and transmitting.
The invention provides a method and a system for transmitting geological mapping data of an unmanned aerial vehicle. Compared with the prior art, the method has the following beneficial effects:
according to the invention, mapping data are partitioned, parameter data packets and image data packets are locked, the parameter data packets are encrypted in a compression hiding processing mode, the image data packets are converted into an encryption template in an encryption template image parameter exchange mode, the image data packets are converted into the encryption template after being encrypted, and different encryption modes are adopted for different format data, so that the overall privacy of the data is ensured, the data is prevented from being stolen by external personnel in the transmission process, and the safety of data transmission is improved;
when mapping data is transmitted, the past parameter data is considered, comprehensive analysis is performed, the corresponding minimum value of the packet loss rate is determined, if the value of the packet loss rate is minimum, the transmission frequency matched with the minimum value is represented as the optimal value, if a plurality of groups of minimum values exist, the corresponding change curves are locked, a group of change curves with the most stable trend state is determined from the plurality of groups of change curves, the minimum value is determined, and therefore the optimal transmission frequency is locked, and the transmission speed of the transmission data is guaranteed.
Drawings
FIG. 1 is a schematic diagram of a principal frame of the present invention;
FIG. 2 is an even image encryption chart of the encryption template of the present invention;
fig. 3 is an odd image encryption chart of the encryption template of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the application provides an unmanned aerial vehicle geological mapping data transmission system, which comprises a hierarchical data determination end, a format partition marking end, a data packet encryption end, an image packet encryption end, a frequency transmission parameter confirmation end, a control terminal and a database;
the data packet encryption end and the image packet encryption end are electrically connected with the frequency transmission parameter confirmation end input node, and the frequency transmission parameter confirmation end is electrically connected with the control terminal input node;
the hierarchical data determining end determines mapping data generated in the geological mapping process of the unmanned aerial vehicle, and determines the mapping data of the same hierarchical stage according to the limitation of the hierarchical period, wherein the hierarchical period is a preset period, the specific value of the hierarchical period is drawn out by an operator according to experience, the mapping data comprises image data and parameter data, and the determined mapping data corresponding to the hierarchical period is transmitted into the format partition marking end;
the format partition marking end performs format confirmation on the determined mapping data, performs partition integration on the image data and the parameter data corresponding to the inside to obtain a parameter data packet and an image data packet belonging to the stage, and sets a mark at a partition node so as to facilitate the subsequent data integration, wherein the specific mode of performing the partition integration is as follows:
extracting image data existing in the interior from mapping data, and marking the extracted image data with a mark T i Wherein i represents different image data and fills in corresponding marks T at the extraction position i ；
Integrating the extracted image data into an image data packet, integrating the mapping data extracted from the image data into a parameter data packet, transmitting the processed image data packet into a data packet encryption end, and transmitting the processed parameter data packet into the image packet encryption end;
specifically, a group of mapping data comprises corresponding staggered image data and parameter data, after the image data is extracted from the mapping data, the mapping data only retains the parameter data, and after the retained parameter data is bound, a corresponding parameter data packet can be obtained, wherein the mapping data is partitioned, namely, different encryption modes are adopted for encryption processing aiming at different data.
The data packet encryption end receives the parameter data packet, integrally encrypts the parameter data in the parameter data packet by adopting a discontinuous compression hiding mode, and transmits the encrypted parameter data packet to the frequency transmission parameter confirmation end, wherein the specific mode for integrally encrypting is as follows:
confirming separators among different data streams in a parameter data packet, and digitally marking the confirmed data streams in a plurality of groups according to the sequence, wherein the number is K, and K=1, 2, … … and n;
compressing the data stream with even number of the digital mark K in the parameter data packet, and transmitting the compressed and encrypted parameter data packet to a frequency transmission parameter confirmation end after the compression is finished;
specifically, a plurality of groups of data flows exist in the parameter data packet, the data flows are sequentially arranged from front to back, wherein the first group of data flows do not need to be compressed and encrypted, the second group of data flows do not need to be compressed and encrypted, and the like, the corresponding data flows in the subsequent even-numbered stages all need to be compressed and encrypted, so that the compression processing of the whole parameter data packet is completed, and the compressed data and the original data have corresponding changes, so that the effect of primary encryption can be achieved.
The image packet encrypting end receives the image data packet, and according to the specific number of the single group images in the image data packet, an encrypting template is drawn up, as shown in fig. 2 or fig. 3, and the internal single group images are encrypted according to the encrypting template, specifically, the method is as follows:
s1, marking the specific number of the internal single-group images as G, adjusting the partition space in the encryption template, if G is an even number, executing the step S2, and if G is an odd number, executing the step S3, wherein the number of the partition space is consistent with G, and the encryption template is a group of encryption circles;
s2, sequentially arranging single-group images in the image data packet outside corresponding encryption template partition spaces, extracting image parameters in the single-group images, calibrating the adjacent partition spaces of the single-group images to be adjacent intervals according to the clockwise direction, calibrating the diagonal partition spaces of the adjacent intervals to be a to-be-stored space, placing the single-group parameters of the single-group images in the to-be-stored space for storage, sequentially processing the subsequent single-group images, sequentially storing G single-group parameters, completing the encryption process of the whole image data packet, and transmitting the processed encryption template to a frequency transmission parameter confirmation end;
s3, sequentially arranging single-group images in the image data packet outside the corresponding encryption template partition spaces, extracting image parameters in the single-group images, calibrating the adjacent partition spaces of the single-group images as adjacent regions, determining a group of regions around the adjacent regions according to the clockwise trend, calibrating the adjacent regions as a space to be stored, sequentially storing the single-group parameters of the single-group images in the space to be stored, sequentially processing the subsequent single-group images, sequentially storing G single-group parameters, completing the encryption process of the whole image data packet, and transmitting the processed encryption template to a frequency transmission parameter confirmation end;
specifically, as shown in fig. 2, 6 single-group images exist in an image data packet, the encryption template generates 6 groups of partition spaces, corresponding single-group images are arranged outside each group of partition spaces, corresponding single-group parameters are arranged in each single-group image and stored in a diagonal partition space of the corresponding partition space in the single-group image, as shown in fig. 3, 5 single-group images exist in the image data packet, each single-group image corresponds to one group of partition spaces, the right partition is determined, and the single-group parameters generated by the single-group images are transmitted to the corresponding storage space to be stored as the storage space.
Example two
In the specific implementation process of the embodiment, compared with the first embodiment, the embodiment mainly aims at the whole mapping data transmission process, determines the corresponding transmission frequency, adopts the optimal transmission frequency to perform data transmission, and ensures that the mapping data packet loss rate in the transmission process is reduced to the minimum;
the frequency transmission parameter confirmation end extracts transmission frequency parameters and corresponding packet loss rates from a database, if a plurality of groups of packet loss rates exist, average processing is carried out, analysis and confirmation are carried out on the packet loss rates generated when the unmanned aerial vehicle is in different transmission frequency parameter states, so that the optimal transmission frequency is locked, and the optimal transmission frequency is transmitted to the control terminal, wherein the specific mode of analysis and confirmation is as follows:
a specific numerical value of a transmission frequency parameter is taken as a transverse coordinate axis, a specific numerical value of a packet loss rate is taken as a vertical coordinate axis, a group of two-dimensional coordinate systems is constructed, corresponding point positions are determined in the two-dimensional coordinate systems according to the extracted specific parameters, and a plurality of groups of point positions are connected to construct a packet loss rate change curve;
sequentially confirming fluctuation points in the change curve of the packet loss rate, wherein the curves on the front side and the back side of the fluctuation points are opposite in trend, and if one side of the curve is a climbing trend and the other side of the curve is a descending trend, the point positions between the two groups of curves belong to the fluctuation points, and sequentially confirming a plurality of fluctuation points in the change curve of the packet loss rate;
calibrating a transmission frequency parameter corresponding to the minimum value of the packet loss rate into a limiting parameter, and if only one group of minimum value of the packet loss rate exists, directly calibrating the limiting parameter into the optimal transmission frequency;
if the minimum value of the packet loss rate has multiple groups, locking fluctuation points on two sides of the point, calibrating a change curve included between the fluctuation points on two sides as a curve to be analyzed, determining a plurality of slope values appearing in the curve to be analyzed, wherein the slope=tanα=Δy/Δx, performing absolute value processing on the determined plurality of groups of slope values, performing average processing to obtain a processing average value JZ, determining the minimum value from the processing average values JZ corresponding to the plurality of groups of curves to be analyzed, calibrating the minimum value as an optimal curve, and calibrating the minimum value corresponding to the optimal curve as an optimal transmission frequency;
the optimal transmission frequency is transmitted to the control terminal.
The control terminal uses the optimal transmission frequency as the transmission frequency, and transmits the processed parameter data packet and the encryption template in the same stage to the receiving end.
Specifically, when the unmanned aerial vehicle performs data transmission, the data in the database is in an updated state, when the transmission frequency received in the database corresponds to different packet loss rates, the different packet loss rates are subjected to mean value processing, the different packet loss rates are used as the packet loss rates corresponding to the corresponding transmission frequencies, the parameter with the smallest packet loss rate in the past parameter data usually corresponds to the optimal transmission frequency, if the minimum value has a plurality of groups, trend analysis is needed, a group of fluctuation curves with the smallest trend change degree is selected, the most stable group of curves is selected from the corresponding fluctuation curves, and the minimum value is selected from the stable curves, so that the corresponding optimal transmission frequency is locked, the transmission speed of the transmission data is ensured, and the integral privacy of the corresponding mapping data can be ensured.
Example III
The unmanned aerial vehicle geological mapping data transmission method comprises the following steps:
step one, confirming mapping data in the same stage and dividing the mapping data into an image data packet and a parameter data packet;
secondly, encrypting the parameter data packet by adopting a compression hiding processing mode, and converting the image data packet into an encryption template by adopting an encryption template image parameter exchange mode;
step three, acquiring the transmission frequency and the corresponding packet loss rate of the unmanned aerial vehicle from a database, constructing a corresponding packet loss rate change curve, selecting a minimum value from the packet loss rate change curve, carrying out trend analysis if a plurality of groups of minimum values appear, and selecting a group of curves with the most stable trend, thereby determining the optimal transmission frequency of the corresponding unmanned aerial vehicle;
and step four, determining a transmission working frequency according to the optimal transmission frequency, and transmitting.
Example IV
This embodiment includes all of the three embodiments described above in the specific implementation.
Some of the data in the above formulas are numerical calculated by removing their dimensionality, and the contents not described in detail in the present specification are all well known in the prior art.
The above embodiments are only for illustrating the technical method of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present invention may be modified or substituted without departing from the spirit and scope of the technical method of the present invention.
Claims (8)
1. Unmanned aerial vehicle geological survey data transmission system, characterized by, include:
the hierarchical data determining end is used for determining mapping data generated in the unmanned aerial vehicle geological mapping process;
the format partition marking end performs partition integration on the image data and the parameter data in the mapping data, confirms the parameter data packet and the image data packet of the stage, and sets a mark at a partition node;
the data packet encryption end is used for integrally encrypting the parameter data packet in a discontinuous compression hiding mode and transmitting the encrypted parameter data packet to the frequency transmission parameter confirmation end;
an image packet encryption end, which is used for drawing up an encryption template according to the specific number of the single-group images in the image data packet and encrypting the single-group images in the image data packet according to the encryption template;
and the frequency transmission parameter confirmation end extracts the transmission frequency parameters and the corresponding packet loss rate from the database, and analyzes and confirms the packet loss rate generated when the unmanned aerial vehicle is in different transmission frequency parameter states, so that the optimal transmission frequency is locked.
2. The unmanned aerial vehicle geological mapping data transmission system according to claim 1, wherein the specific way of carrying out partition integration on the internal image data and the parameter data by the format partition marking end is as follows:
extracting image data present within the mapping data, marking the extracted image data as T i Wherein i represents different image data and fills in the corresponding at the extraction positionIs marked T of (2) i ；
Integrating the extracted image data into an image data packet, integrating the mapping data extracted from the image data into a parameter data packet, transmitting the image data packet into a data packet encryption end, and transmitting the parameter data packet into the image packet encryption end.
3. The unmanned aerial vehicle geological mapping data transmission system according to claim 1, wherein the data packet encryption end encrypts the parameter data packet in the following specific manner:
confirming separators among different data streams in a parameter data packet, and carrying out digital marking on a plurality of confirmed groups of data streams according to a front-to-back sequence, wherein the digital marking is K, and K=1, 2, … … and n;
and compressing the data stream with even number of the digital mark K in the parameter data packet, and transmitting the compressed and encrypted parameter data packet to a frequency transmission parameter confirmation end.
4. The unmanned aerial vehicle geological mapping data transmission system according to claim 1, wherein the specific way for the image packet encrypting end to encrypt the internal single-group image according to the encryption template is as follows:
s1, marking the specific number of the internal single-group images as G, adjusting the partition space in the encryption template, if G is an even number, executing the step S2, and if G is an odd number, executing the step S3, wherein the number of the partition space is consistent with G, and the encryption template is a group of encryption circles;
s2, sequentially arranging single-group images in the image data packet outside corresponding encryption template partition spaces, calibrating image parameters in the single-group images to be single-group parameters, calibrating adjacent partition spaces of the single-group images to be adjacent intervals in a clockwise direction, calibrating diagonal partition spaces of the adjacent intervals to be a to-be-stored space, placing the single-group parameters of the single-group images in the to-be-stored space for storage, sequentially processing subsequent single-group images, sequentially storing G single-group parameters, and completing the encryption process of the whole image data packet;
s3, sequentially arranging the single-group images in the image data packet outside the corresponding encryption template partition spaces, extracting image parameters in the single-group images, calibrating the adjacent partition spaces of the single-group images as adjacent regions, determining a group of regions around the adjacent regions according to the clockwise trend and calibrating the adjacent regions as a to-be-stored space, placing the single-group parameters of the single-group images in the to-be-stored space for storage, sequentially processing the subsequent single-group images, sequentially storing G single-group parameters, and completing the encryption process of the whole image data packet.
5. The unmanned aerial vehicle geological mapping data transmission system according to claim 1, wherein the specific mode of locking the optimal transmission frequency by the frequency transmission parameter confirmation end is as follows:
if the packet loss rates corresponding to the same transmission frequency parameter have multiple groups, carrying out mean value processing to construct a group of two-dimensional coordinate system, and then constructing a packet loss rate change curve according to the extracted specific parameters;
sequentially confirming fluctuation points of the packet loss rate change curve, wherein the curves on the front side and the back side of the fluctuation points are opposite in trend, and sequentially confirming a plurality of fluctuation points in the packet loss rate change curve;
and calibrating the transmission frequency parameter corresponding to the minimum value of the packet loss rate to a limiting parameter, and if only one group of limiting parameters exist in the minimum value of the packet loss rate, directly calibrating the limiting parameter to the optimal transmission frequency.
6. The unmanned aerial vehicle geological mapping data transmission system of claim 5, wherein the specific way of locking the optimal transmission frequency by the frequency transmission parameter confirmation end further comprises:
if the minimum value of the packet loss rate has a plurality of groups, locking fluctuation points on two sides of the point, calibrating a change curve included between the fluctuation points on two sides as a curve to be analyzed, determining a plurality of slope values appearing in the curve to be analyzed, performing absolute value processing and mean value processing to obtain a processing mean value JZ, determining the minimum value from the processing mean values JZ corresponding to the plurality of groups of curves to be analyzed, calibrating the minimum value as an optimal curve, and calibrating the minimum value as an optimal transmission frequency;
the optimal transmission frequency is transmitted to the control terminal.
7. The unmanned aerial vehicle geological mapping data transmission system of claim 1, further comprising a control terminal, wherein the control terminal uses the optimal transmission frequency as the transmission frequency, and transmits the processed parameter data packets and the encryption templates in the same phase to the receiving end.
8. A method of unmanned aerial vehicle geological mapping data transmission operating on the basis of the unmanned aerial vehicle geological mapping data transmission system according to any one of claims 1 to 7, comprising the steps of:
step one, confirming mapping data in the same stage and dividing the mapping data into an image data packet and a parameter data packet;
secondly, encrypting the parameter data packet by adopting a compression hiding processing mode, and converting the image data packet into an encryption template by adopting an encryption template image parameter exchange mode;
step three, acquiring the transmission frequency and the corresponding packet loss rate of the unmanned aerial vehicle from a database, constructing a corresponding packet loss rate change curve, selecting a minimum value from the packet loss rate change curve, carrying out trend analysis if a plurality of groups of minimum values appear, and selecting a group of curves with the most stable trend, thereby determining the optimal transmission frequency of the corresponding unmanned aerial vehicle;
and step four, determining a transmission working frequency according to the optimal transmission frequency, and transmitting.
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