WO2019023907A1 - 失步处理方法、中间通信装置及通信系统 - Google Patents

失步处理方法、中间通信装置及通信系统 Download PDF

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Publication number
WO2019023907A1
WO2019023907A1 PCT/CN2017/095330 CN2017095330W WO2019023907A1 WO 2019023907 A1 WO2019023907 A1 WO 2019023907A1 CN 2017095330 W CN2017095330 W CN 2017095330W WO 2019023907 A1 WO2019023907 A1 WO 2019023907A1
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Prior art keywords
communication device
downstream
upstream
synchronization
preset duration
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English (en)
French (fr)
Inventor
饶雄斌
尹小俊
马宁
王乃博
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201780006014.6A priority Critical patent/CN108513729B/zh
Priority to PCT/CN2017/095330 priority patent/WO2019023907A1/zh
Publication of WO2019023907A1 publication Critical patent/WO2019023907A1/zh
Priority to US16/737,186 priority patent/US11240772B2/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H04W56/0025—Synchronization between nodes synchronizing potentially movable access points
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/25—Transmission of traffic-related information between aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H04W56/0015—Synchronization between nodes one node acting as a reference for the others
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/0035—Synchronisation arrangements detecting errors in frequency or phase
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/004—Synchronisation arrangements compensating for timing error of reception due to propagation delay
    • H04W56/0045—Synchronisation arrangements compensating for timing error of reception due to propagation delay compensating for timing error by altering transmission time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/0055—Synchronisation arrangements determining timing error of reception due to propagation delay

Definitions

  • the present invention relates to the field of flight technologies, and in particular, to an out-of-synchronization processing method, a relay node, and a communication system.
  • the multi-layer networking architecture includes at least three levels of nodes, which are an intermediate communication device, an upstream communication device of the intermediate communication device, and a downstream communication device. Wherein, the intermediate communication device communicates with the upstream communication device and the downstream communication device, respectively.
  • the intermediate communication device needs to be synchronized with the upstream communication device, and the downstream communication device needs to be synchronized with the intermediate communication device.
  • the synchronization here mainly includes frequency synchronization and clock synchronization.
  • the intermediate communication device synchronized with the upstream communication device when the upstream communication device transmits data with a certain crystal oscillator and clock, the intermediate communication device determines a frequency offset and a clock offset with the upstream communication device to achieve synchronization with the upstream communication device.
  • the crystal frequency drift of the upstream communication device may occur due to the influence of temperature or the like, and the frequency drift of the upstream communication device may cause the intermediate communication device to lose synchronization with the upstream communication device (referred to as out-of-synchronization).
  • the intermediate communication device When the intermediate communication device is out of sync with the upstream communication device, the intermediate communication device typically needs to continuously search for the upstream communication device to resynchronize with the upstream communication device.
  • the present invention provides an out-of-synchronization processing method, a relay node, and a communication system for solving the problem that the downstream communication device is out of control in the prior art because the intermediate communication device enters the search mode and searches for the upstream communication device again.
  • a first aspect of the present invention provides a method for out-of-step processing of a drone for processing an out-of-synchronization of an intermediate communication device and an upstream communication device, the method comprising:
  • a time frame is allocated for performing a search of the upstream communication device and communication with the downstream communication device, wherein the communication with the downstream communication device adjusts parameters in accordance with the first synchronization information to complete communication with the downstream communication device.
  • a second aspect of the present invention provides an intermediate communication device, which is an intermediate communication device in a communication system, the communication system including: the intermediate communication device, an upstream communication device of the intermediate communication device, and the a downstream communication device of the intermediate communication device; the intermediate communication device includes:
  • An acquiring module configured to acquire first synchronization information when synchronization with a downstream communication device
  • a communication module configured to allocate a time frame for performing a search of the upstream communication device and communication with the downstream communication device, wherein the communication with the downstream communication device adjusts parameters according to the first synchronization information to complete communication with the downstream communication device.
  • a third aspect of the present invention provides a communication system comprising: the intermediate communication device according to the above second aspect, the upstream communication device of the intermediate communication device, and the downstream communication device of the intermediate communication device.
  • the out-of-synchronization processing method, the relay node, and the communication system provided by the present invention allocate the time frame to perform the search of the upstream communication device when the upstream communication device is out of synchronization by acquiring the first synchronization information when synchronizing with the downstream communication device.
  • Communication with the downstream communication device wherein, when communicating with the downstream communication device, adjusting parameters according to the first synchronization information to complete communication with the downstream communication device, enabling the intermediate communication device to perform search of the upstream communication device at intervals on a time frame And completing communication with the downstream communication device according to the first synchronization information adjustment parameter when synchronizing with the downstream communication device, so that the intermediate communication device can communicate with the downstream communication device during the process of searching for the upstream communication device to ensure the downstream communication device and The intermediate communication device is synchronized, avoiding the problem that the underlying node is out of control due to the intermediate communication device continuously searching for the upstream communication device.
  • FIG. 1 is a structural diagram of a communication system to which an out-of-synchronization processing method is provided according to the present invention
  • FIG. 2 is a schematic diagram 1 of an application scenario of an out-of-synchronization processing method provided by the present invention
  • FIG. 3 is a schematic diagram 2 of an application scenario of an out-of-synchronization processing method provided by the present invention.
  • Embodiment 4 is a flowchart of Embodiment 1 of an out-of-synchronization processing method provided by the present invention.
  • FIG. 5 is a flowchart of Embodiment 2 of an out-of-synchronization processing method provided by the present invention.
  • FIG. 6 is a schematic structural diagram of Embodiment 1 of an intermediate communication device according to the present invention.
  • FIG. 1 is a structural diagram of a communication system applied to an out-of-synchronization processing method according to the present invention.
  • the communication system to which the method is applied includes an intermediate communication device, an upstream communication device of the intermediate communication device, and a downstream communication device of the intermediate communication device.
  • the number of the upstream communication devices of the intermediate communication device and/or the downstream communication device of the intermediate communication device may be one or more, and the invention is not limited thereto.
  • the intermediate communication device may specifically be a console (GS), and the upstream communication device may be a base station (BS, Base Station), and the foregoing downstream communication.
  • the device may specifically be a drone.
  • the intermediate communication device may specifically be a relay drone
  • the upstream communication device may specifically be a drone
  • the downstream communication device is specifically Can be a console or a relay console.
  • the intermediate communication device may be a first relay drone, and the upstream communication device may be a drone, and the downstream communication
  • the information device may specifically be a second relay drone; or the intermediate communication device, the upstream communication device, and the downstream communication device may specifically be different relay drones.
  • the present invention can be applied to any upstream communication device including the intermediate communication device, the intermediate communication device, and the downstream communication device, and the intermediate communication device needs to be synchronized with the upstream communication device, and the downstream communication device needs to be synchronized with the intermediate communication device. Scenes.
  • FIG. 4 is a flowchart of Embodiment 1 of an out-of-synchronization processing method provided by the present invention.
  • the method of this embodiment can be performed by the intermediate communication device described above for processing the case where the intermediate communication device and the upstream communication device are out of synchronization.
  • the method in this embodiment may include:
  • Step 401 Acquire first synchronization information when synchronization with the downstream communication device.
  • the first synchronization information may specifically be synchronization information used by the intermediate communication device to communicate with the downstream communication device before the upstream communication device is out of synchronization.
  • the first synchronization information may include: frequency offset information and/or time offset information; or the first synchronization information may specifically include: frequency information and/or time information.
  • Step 402 assigning a time frame for performing a search of the upstream communication device and communication with the downstream communication device, wherein the communication with the downstream communication device adjusts parameters according to the first synchronization information to complete synchronization with the downstream communication device.
  • step 402 when step 402 is performed, the intermediate communication device and the upstream communication device have lost synchronization.
  • the search of the upstream communication device is performed on the time frames 5, ..., and communicates with the downstream communication device on the time frame 2, the time frame 4, and the time frame 6. Since the parameters of the intermediate communication device are shifted during the search for the upstream communication device, it is necessary to adjust the parameters back according to the first synchronization information when communicating with the downstream communication device.
  • the first synchronization information includes frequency information or frequency offset information
  • the parameter may include a crystal oscillator frequency
  • the parameter may include a clock .
  • the time frame is allocated to perform the search of the upstream communication device and the communication with the downstream communication device, wherein, downstream When the communication device communicates, the parameters are adjusted according to the first synchronization information to complete communication with the downstream communication device, and the intermediate communication device is separated in time frame.
  • FIG. 5 is a flowchart of Embodiment 2 of an out-of-synchronization processing method provided by the present invention.
  • the method of the present embodiment based on the method shown in FIG. 4, mainly describes a specific implementation manner of allocating a time frame for performing a search of an upstream communication device and communication with a downstream communication device.
  • step 402 may specifically include:
  • Step 501 Continuously search for a signal of the upstream communication device for a first preset duration.
  • the intermediate communication device in the process of continuously searching for the upstream communication device, the intermediate communication device is in a state in which the communication between the intermediate communication device and the downstream communication device is disconnected (ie, cannot be communicated).
  • the downstream communication device may drift due to temperature, time, and the like, such as frequency drift and clock drift.
  • the longer the communication between the intermediate communication device and the downstream communication device is disconnected the greater the drift of the parameters.
  • the duration of the intermediate communication device searching for the upstream communication device is short, the drift of the downstream communication device parameter is not very large, and the downstream communication device can successfully decode the intermediate communication when the intermediate communication device communicates with the downstream communication device according to the first synchronization information.
  • the intermediate communication device can still communicate with the downstream communication device according to the first synchronization information, that is, the downstream communication device and The intermediate communication device does not lose its step.
  • the first preset duration can be considered as follows: if the first preset If the duration is large, the drift of the parameters of the downstream communication device may be too large, which may result in a decrease in the possibility that the intermediate communication device and the downstream communication device are connected again to continue communication. At the same time, the larger first preset duration also results in an increase in the interval at which the intermediate communication device transmits data to the downstream communication device, thereby causing the intermediate communication device to control the delay of the downstream communication device to increase.
  • the first preset duration is selected to be small, it is disadvantageous for the intermediate communication device to resynchronize the upstream communication device. Therefore, it can be considered based on the ability to satisfy the requirement that the downstream communication device and the intermediate communication device remain synchronized and the requirement to search for the upstream communication device.
  • the first preset duration is greater than or equal to the first threshold and less than or equal to the second threshold.
  • the first threshold is a minimum value that can satisfy the most basic time length of the search
  • the second threshold is a maximum value that can ensure synchronization between the downstream communication device and the intermediate communication device.
  • the searching for the signal of the upstream communication device may specifically include: entering a full receiving state, searching for a signal of the upstream communication device.
  • the searching for the signal of the upstream communication device may specifically be searching for a frequency of the upstream communication device.
  • Step 502 Waiting for synchronization with the downstream communication device if the intermediate communication device is synchronized with the upstream communication device during the first predetermined duration of the continuous search for the signal of the upstream communication device.
  • the intermediate communication device is synchronized with the upstream communication device, waiting for synchronization with the downstream communication device, specifically: according to the second synchronization information when resynchronizing with the upstream communication device Transmitting data to the downstream communication device to resynchronize the downstream communication device with the upstream communication device.
  • the second different information may include: time information and/or frequency information; or the second synchronization information may include: time offset information and/or frequency offset information.
  • Step 503 During the first predetermined duration of the signal for continuously searching the upstream communication device, if the upstream communication device is not searched within the first preset duration, adjust the The parameter of the intermediate communication device is in communication with the downstream communication device for a second predetermined duration, and returns to step 501 when the second predetermined duration is reached.
  • the downstream communication device adjusts its own parameters (such as a crystal frequency) Thereby further narrowing the difference between the parameters of the intermediate communication device (for example, the crystal frequency), and in the second predetermined duration, by continuously tracking the parameters of the intermediate communication device, thereby arranging the parameters of the intermediate communication device and the upstream communication device
  • the difference is stable in a small range.
  • the value of the second preset duration may be considered as follows: On the one hand, in order to ensure that the downstream communication device can be synchronized with the intermediate communication device, the parameter difference between the downstream communication device and the upstream communication device needs to be stabilized in one comparison. On the other hand, in order to ensure that the intermediate communication device can resynchronize as soon as possible, the intermediate communication device needs to be allocated as much as possible. Long time to search for upstream communication devices. Therefore, optionally, the second preset duration is greater than or equal to a third threshold, and the third threshold is a minimum value that enables the crystal oscillator difference between the downstream communication device and the intermediate communication device to converge to a stable value.
  • both the first preset duration and the second preset duration need to be properly selected, so that the downstream communication device can be synchronized with the intermediate communication device, and the intermediate communication device can be re-established with the upstream communication device as early as possible. Synchronize.
  • a ratio of the first preset duration to the second preset duration is between 0.5 and 2.
  • the duty ratio of the intermediate communication device communicating with the downstream communication device is between 1/3 and 2/3.
  • FIG. 6 is a schematic structural diagram of Embodiment 1 of an intermediate communication device according to the present invention.
  • the intermediate communication device of the present embodiment is an intermediate communication device in a communication system, and the communication system includes: the intermediate communication device, an upstream communication device of the intermediate communication device, and a downstream communication device of the intermediate communication device.
  • the intermediate communication device of this embodiment may include:
  • the obtaining module 601 is configured to acquire first synchronization information when synchronization with the downstream communication device;
  • the communication module 602 is configured to allocate a time frame for performing a search of the upstream communication device and communication with the downstream communication device, wherein the communication with the downstream communication device adjusts parameters according to the first synchronization information to complete communication with the downstream communication device.
  • the communication module 602 is specifically configured to:
  • the first preset duration is greater than or equal to a first threshold, and is less than or equal to a second threshold; the first threshold is a minimum value that can satisfy a search for a most basic duration, and the second threshold is A maximum value that can ensure synchronization of the downstream communication device with the intermediate communication device.
  • the second preset duration is greater than or equal to a third threshold
  • the third threshold is a minimum value that enables the crystal oscillator difference between the downstream communication device and the intermediate communication device to converge to a stable value
  • the communication module 602 if the intermediate communication device is synchronized with the upstream communication device, waits for synchronization with the downstream communication device, and specifically includes:
  • Data is transmitted to the downstream communication device based on the second synchronization information when resynchronizing with the upstream communication device to resynchronize the downstream communication device with the upstream communication device.
  • a ratio of the first preset duration to the second preset duration is between 0.5 and 2.
  • the duty ratio of the communication module 602 to communicate with the downstream communication device is between 1/3 and 2/3.
  • the communication module 602 searches for a signal of the upstream communication device, and specifically includes: entering a full receiving state, and searching for a signal of the upstream communication device.
  • the first synchronization information includes: frequency offset information and/or clock offset information; or the first synchronization information includes: frequency information and/or timing information.
  • the intermediate communication device provided in this embodiment may be used to perform the technical solution of the foregoing method embodiment, and the implementation principle and the technical effect are similar to the method embodiment, and details are not described herein again.
  • the present invention also provides a communication system comprising: the intermediate communication device described in the above embodiment of FIG. 6, the upstream communication device of the intermediate communication device, and the downstream communication device of the intermediate communication device.
  • the intermediate communication device is a console, the upstream communication device is a base station, and the downstream communication device is a drone; or the intermediate communication device is a relay drone, and the upstream communication device is For a drone, the downstream communication device is a console or a relay console.
  • the aforementioned program can be stored in a computer Read in the storage medium.
  • the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

一种失步处理方法、中间通信装置及通信系统。该方法包括：(401)获取与下游通信装置同步时的第一同步信息；(402)分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信。本发明避免了由于中间通信装置持续搜索上游通信装置而导致下游节点失控的问题。

Description

失步处理方法、中间通信装置及通信系统 技术领域
本发明涉及飞行技术领域，尤其涉及一种失步处理方法、中继节点及通信系统。
背景技术
多层组网架构中包括至少三级节点，分别为中间通信装置、中间通信装置的上游通信装置和下游通信装置。其中，中间通信装置分别与上游通信装置和下游通信装置通信。
现有技术中，中间通信装置需要与上游通信装置同步，下游通信装置需要与中间通信装置同步。其中，这里的同步主要包括频率同步和时钟同步。以中间通信装置与上游通信装置同步为例，上游通信装置以一定的晶振和时钟发送数据时，中间通信装置确定与上游通信装置的频率偏移和时钟偏移以实现与上游通信装置的同步。通常，由于温度等的影响会出现上游通信装置的晶振频率漂移的情况，而上游通信装置的频率漂移会导致中间通信装置与上游通信装置失去同步(简称失步)。当中间通信装置与上游通信装置失步后，中间通信装置通常需要持续搜索上游通信装置，以与上游通信装置重新同步。
但是，现有技术中，存在由于中间通信装置持续搜索上游通信装置，而导致下游通信装置失控的问题。
发明内容
本发明提供一种失步处理方法、中继节点及通信系统，用于解决现有技术中由于中间通信装置进入搜索模式重新搜索上游通信装置，而导致下游通信装置失控的问题。
本发明第一方面提供一种无人机失步处理方法，用于处理中间通信装置与上游通信装置失步的情况，所述方法包括：
获取与下游通信装置同步时的第一同步信息；
分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信。
本发明第二方面提供一种中间通信装置，所述中间通信装置为通信系统中的中间通信装置，所述通信系统包括：所述中间通信装置，所述中间通信装置的上游通信装置和所述中间通信装置的下游通信装置；所述中间通信装置包括：
获取模块，用于获取与下游通信装置同步时的第一同步信息；
通信模块，用于分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信。
本发明第三方面提供一种通信系统，包括：上述第二方面所述的中间通信装置，所述中间通信装置的上游通信装置以及所述中间通信装置的下游通信装置。
本发明提供的失步处理方法、中继节点及通信系统，通过获取与下游通信装置同步时的第一同步信息，在与上游通信装置失步时，分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信，实现了中间通信装置在时间帧上间隔的进行上游通信装置的搜索以及根据与下游通信装置同步时的第一同步信息调整参数完成与下游通信装置的通信，从而使得中间通信装置在搜索上游通信装置的过程中，能够与下游通信装置进行通信以确保下游通信装置与中间通信装置同步，避免了由于中间通信装置持续搜索上游通信装置而导致下有节点失控的问题。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明提供的失步处理方法应用的通信系统架构图；
图2为本发明提供的失步处理方法的应用场景示意图一；
图3为本发明提供的失步处理方法的应用场景示意图二；
图4为本发明提供的失步处理方法实施例一的流程图；
图5为本发明提供的失步处理方法实施例二的流程图；
图6为本发明提供的中间通信装置实施例一的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1为本发明提供的失步处理方法应用的通信系统架构图。如图1所示，该方法所应用的通信系统包括：中间通信装置、所述中间通信装置的上游通信装置以及所述中间通信装置的下游通信装置。其中，中间通信装置与上游通信装置之间存在通信链路，可以进行通信；中间通信装置与下游通信装置之间存在通信链路，可以进行通信。需要说明的是，中间通信装置的上游通信装置，和/或中间通信装置的下游通信装置的个数可以为一个或者多个，本发明并不作限制。
例如，如图2所示，对于农业无人机通信系统的应用场景，上述中间通信装置具体可以为控制台(GS)，上述上游通信装置具体可以为基站(BS，Base Station)，上述下游通信装置具体可以为无人机(Drone)。其中，BS与GS之间存在双向通信链路，GS和Drone之间存在双向通信链路。
又例如，如图3所示，对于中继无人机通信系统的应用场景，上述中间通信装置具体可以为中继无人机，上述上游通信装置具体可以为无人机，上述下游通信装置具体可以为控制台或者中继控制台。其中，无人机与中继无人机之间存在双向通信链路，中继无人机和控制台之间存在双向通信链路，中继无人机和中继控制台之间存在双向通信链路。
又例如，对于中继无人机通信系统的应用场景，上述中间通信装置具体可以为第一中继无人机，上述上游通信装置具体可以为无人机，上述下游通 信装置具体可以为第二中继无人机；或者，中间通信装置、上游通信装置以及下游通信装置具体都可以为不同的中继无人机。
需要说明的是，本发明可以应用于任何包括中间通信装置、该中间通信装置的上游通信装置和下游通信装置，并且中间通信装置需要与上游通信装置同步，下游通信装置需要与中间通信装置同步的场景。
图4为本发明提供的失步处理方法实施例一的流程图。本实施例的方法可以由上述中间通信装置执行，用于处理中间通信装置与上游通信装置失步的情况。如图4所示，本实施例的方法可以包括：
步骤401、获取与下游通信装置同步时的第一同步信息。
本步骤中，该第一同步信息具体可以为中间通信装置在与上游通信装置失步之前，与下游通信装置进行通信时所使用的同步信息。可选的，所述第一同步信息具体可以包括：频率偏移信息和/或时间偏移信息；或者，所述第一同步信息具体可以包括：频率信息和/或时间信息。
步骤402、分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的同步。
需要说明的是，在执行步骤402时，中间通信装置与上游通信装置已经失步。
本步骤中，具体的，对于按照时间顺序依次排列的时间帧1、时间帧2、时间帧3、时间帧4、时间帧5、时间帧6、……，在时间帧1、时间帧3、时间帧5、……上进行上游通信装置的搜索，在时间帧2、时间帧4、时间帧6上与下游通信装置通信。由于在搜索上游通信装置的过程中，中间通信装置的参数发生了偏移，因此在与下游通信装置通信时，需要根据第一同步信息将参数调整回来。其中，当所述第一同步信息包括频率信息或频率偏移信息时，所述参数可以包括晶振频率；当所述第一同步信息包括时间偏移信息或时间信息时，所述参数可以包括时钟。
本实施例中，通过获取与下游通信装置同步时的第一同步信息，在与上游通信装置失步时，分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信，实现了中间通信装置在时间帧上间隔的进行 上游通信装置的搜索以及根据与下游通信装置同步时的第一同步信息调整参数完成与下游通信装置的通信，从而使得中间通信装置在搜索上游通信装置的过程中，能够与下游通信装置进行通信以确保下游通信装置与中间通信装置同步，避免了由于中间通信装置持续搜索上游通信装置而导致下有节点失控的问题。
图5为本发明提供的失步处理方法实施例二的流程图。本实施例的方法在图4所示方法的基础上，主要描述了分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信的具体实现方式。如图5所示，步骤402具体可以包括：
步骤501、持续搜索所述上游通信装置的信号第一预设时长。
通常，中间通信装置在持续搜索上游通信装置的过程中，中间通信装置与下游通信装置之间是通信断开(即，无法通信)的状态。中间通信装置与下游通信装置之间的无法进行通信后，下游通信装置由于温度、时间等的影响其参数会发生漂移，例如频率漂移、时钟漂移。并且，中间通信装置与下游通信装置通信断开的时间越长，参数的漂移越大。当中间通信装置搜索上游通信装置的时长较短时，下游通信装置参数的漂移并不是很大，当中间通信装置根据第一同步信息与下游通信装置进行通信时下游通信装置还是能够成功解码中间通信装置的信号，因此下游通信装置还是能够与中间通信装置同步。因此，通过对第一预设时长的合理选择，可以实现持续搜索上游通信装置的信号第一预设时长后，中间通信装置还是能够根据第一同步信息与下游通信装置通信，即下游通信装置与中间通信装置不失步。
为了确保中间通信装置能够通过搜索上游通信装置的信号与上游通信装置重新同步，并确保下游通信装置与中间通信装置不失步，这里可以对第一预设时长进行如下考虑：如果第一预设时长较大的话，下游通信装置参数的漂移会过大，会导致中间通信装置和下游通信装置再次连接继续通信的可能性降低。同时，较大的第一预设时长也导致了中间通信装置向下游通信装置发送数据的间隔增大，从而使得中间通信装置控制下游通信装置的延迟加大。另一方面，如果第一预设时长选择较小的话，则不利于中间通信装置重新同步上上游通信装置。因此，可以基于能够满足下游通信装置与中间通信装置保持同步的要求以及能够满足搜索上游通信装置的要求两方面进行考虑。可 选的，所述第一预设时长大于或等于第一阈值，且小于或等于第二阈值。其中，所述第一阈值为能够满足搜索最基本的时长度的最小值，所述第二阈值为能够确保所述下游通信装置与所述中间通信装置保持同步的最大值。
可选的，所述搜索所述上游通信装置的信号具体可以包括：进入全收状态，搜索所述上游通信装置的信号。
可选的，所述搜索所述上游通信装置的信号具体可以为搜索所述上游通信装置的频率。
步骤502、在持续搜索所述上游通信装置的信号第一预设时长期间，若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步。
本步骤中，可选的，若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步，具体包括：根据与所述上游通信装置重新同步时的第二同步信息，向所述下游通信装置发送数据，以使所述下游通信装置与所述上游通信装置重新同步。可选的，所述第二不同信息可以包括：时间信息和/或频率信息；或者，所述第二同步信息可以包括：时间偏移信息和/或频率偏移信息。
步骤503、在持续搜索所述上游通信装置的信号第一预设时长期间，若在所述第一预设时长内未搜索到所述上游通信装置，则根据所述第一同步信息调整所述中间通信装置的参数并与所述下游通信装置通信第二预设时长，并在到达所述第二预设时长时返回步骤501执行。
本步骤中，在中间通信装置根据第一同步信息调整所述中间通信装置的参数并与所述下游通信装置通信预设时长的过程中，所述下游通信装置通过调整自身的参数(例如晶振频率)从而进一步缩小与中间通信装置的参数(例如晶振频率)之间的差异，并在第二预设时长中，通过不断跟踪中间通信装置的参数，从而将中间通信装置与上游通信装置的参数的差异稳定在一个较少的范围里。
可选的，对于第二预设时长的取值可以进行如下考虑：一方面，为了确保下游通信装置能够与中间通信装置保持同步，需要将下游通信装置与上游通信装置的参数差异稳定在一个较少的范围里；另一方面，为了确保中间通信装置能够尽快于上游通信装置重新同步，需要中间通信装置尽可能分配较 长的时间搜索上游通信装置。因此，可选的，所述第二预设时长大于或等于第三阈值，所述第三阈值为能够使得所述下游通信装置与中间通信装置的晶振差异收敛到稳定值的最小值。
通过上述分析可以看出，第一预设时长和第二预设时长都需要合理选择，从而既能够实现下游通信装置能够与中间通信装置保持同步，又能够实现中间通信装置尽早与上游通信装置重新同步。可选的，所述第一预设时长与所述第二预设时长的比值介于0.5和2之间。可选的，所述中间通信装置与所述下游通信装置通信的占空比介于1/3和2/3之间。
本实施例中，通过持续搜索所述上游通信装置的信号第一预设时长，在持续搜索所述上游通信装置的信号第一预设时长期间，若所述中间通信装置与所述上游通信装置同步则等待与所述下游通信装置同步，若在所述第一预设时长内未搜索到所述上游通信装置则根据所述第一同步信息调整所述中间通信装置的参数并与所述下游通信装置通信第二预设时长，并在到达所述第二预设时长时重复执行上述步骤，使得中间通信装置在搜索上游通信装置的过程中，能够与下游通信装置进行通信以确保下游通信装置与中间通信装置同步，避免了由于中间通信装置持续搜索上游通信装置而导致下有节点失控的问题。
图6为本发明提供的中间通信装置实施例一的结构示意图。本实施例的中间通信装置为通信系统中的中间通信装置，所述通信系统包括：所述中间通信装置，所述中间通信装置的上游通信装置和所述中间通信装置的下游通信装置。如图6所示，本实施例的中间通信装置可以包括：
获取模块601，用于获取与下游通信装置同步时的第一同步信息；
通信模块602，用于分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信。
可选的，通信模块602具体用于：
A、持续搜索所述上游通信装置的信号第一预设时长；
B、在持续搜索所述上游通信装置的信号第一预设时长期间，若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步，若在所述第一预设时长内未搜索到所述上游通信装置，则根据所述第一同步信息 调整所述中间通信装置的参数并与所述下游通信装置通信第二预设时长；
到达所述第二预设时长时，重复A和B。
可选的，所述第一预设时长大于或等于第一阈值，且小于或等于第二阈值；所述第一阈值为能够满足搜索最基本的时长度的最小值，所述第二阈值为能够确保所述下游通信装置与所述中间通信装置保持同步的最大值。
可选的，所述第二预设时长大于或等于第三阈值，所述第三阈值为能够使得所述下游通信装置与所述中间通信装置的晶振差异收敛到稳定值的最小值。
可选的，通信模块602，若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步，具体还包括：
根据与上游通信装置重新同步时的第二同步信息，向所述下游通信装置发送数据，以使所述下游通信装置与所述上游通信装置重新同步。
可选的，所述第一预设时长与所述第二预设时长的比值介于0.5和2之间。
可选的，通信模块602与所述下游通信装置通信的占空比介于1/3和2/3之间。
可选的，通信模块602，搜索所述上游通信装置的信号，具体包括：进入全收状态，搜索所述上游通信装置的信号。
可选的，所述第一同步信息包括：频率偏移信息和/或时钟偏移信息；或者，所述第一同步信息包括：频率信息和/或定时信息。
本实施例提供的中间通信装置，可以用于执行前述方法实施例的技术方案，其实现原理和技术效果与方法实施例类似，在此不再赘述。
本发明还提供一种通信系统，包括：上述图6所示实施例所述的中间通信装置、所述中间通信装置的上游通信装置以及所述中间通信装置的下游通信装置。
可选的，所述中间通信装置为控制台，所述上游通信装置为基站，所述下游通信装置为无人机；或者，所述中间通信装置为中继无人机，所述上游通信装置为无人机，所述下游通信装置为控制台或者中继控制台。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可 读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (23)

  1. 一种失步处理方法，用于处理中间通信装置与上游通信装置失步的情况，其特征在于，包括：
    获取与下游通信装置同步时的第一同步信息；
    分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信。
  2. 根据权利要求1所述的方法，其特征在于，分配时间帧以进行上游通信装置的搜索以及下游通信装置的通信，包括：
    持续搜索所述上游通信装置的信号第一预设时长；
    在持续搜索所述上游通信装置的信号第一预设时长期间，若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步，若在所述第一预设时长内未搜索到所述上游通信装置，则根据所述第一同步信息调整所述中间通信装置的参数并与所述下游通信装置通信第二预设时长；
    到达所述第二预设时长时，重复以上执行动作。
  3. 根据权利要求2所述的方法，其特征在于，所述第一预设时长大于或等于第一阈值，且小于或等于第二阈值；所述第一阈值为能够满足搜索最基本的时长度的最小值，所述第二阈值为能够确保所述下游通信装置与所述中间通信装置保持同步的最大值。
  4. 根据权利要求2所述的方法，其特征在于，所述第二预设时长大于或等于第三阈值，所述第三阈值为能够使得所述下游通信装置与所述中间通信装置的晶振差异收敛到稳定值的最小值。
  5. 根据权利要求2所述的方法，其特征在于，若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步，具体还包括：
    根据与所述上游通信装置重新同步时的第二同步信息，向所述下游通信装置发送数据，以使所述下游通信装置与所述上游通信装置重新同步。
  6. 根据权利要求2所述的方法，其特征在于，所述第一预设时长与所述第二预设时长的比值介于0.5和2之间。
  7. 根据权利要求6所述的方法，其特征在于，与所述下游通信装置通信的占空比介于1/3和2/3之间。
  8. 根据权利要求2所述的方法，其特征在于，所述搜索所述上游通信装置的信号包括：进入全收状态，搜索所述上游通信装置的信号。
  9. 根据权利要求1-8任一项所述的方法，其特征在于，所述第一同步信息包括：频率偏移信息和/或时钟偏移信息。
  10. 根据权利要求1-8任一项所述的方法，其特征在于，所述第一同步信息包括：频率信息和/或定时信息。
  11. 一种中间通信装置，其特征在于，所述中间通信装置为通信系统中的中间通信装置，所述通信系统包括：所述中间通信装置，所述中间通信装置的上游通信装置和所述中间通信装置的下游通信装置；所述中间通信装置包括：
    获取模块，用于获取与下游通信装置同步时的第一同步信息；
    通信模块，用于分配时间帧以进行上游通信装置的搜索以及与下游通信装置的通信，其中，与下游通信装置通信时根据所述第一同步信息调整参数以完成与下游通信装置的通信。
  12. 根据权利要求11所述的中间通信装置，其特征在于，通信模块具体用于：
    持续搜索所述上游通信装置的信号第一预设时长；
    在持续搜索所述上游通信装置的信号第一预设时长期间，若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步，若在所述第一预设时长内未搜索到所述上游通信装置，则根据所述第一同步信息调整所述中间通信装置的参数并与所述下游通信装置通信第二预设时长；
    到达所述第二预设时长时，重复执行以上两个步骤。
  13. 根据权利要求12所述的中间通信装置，其特征在于，所述第一预设时长大于或等于第一阈值，且小于或等于第二阈值；所述第一阈值为能够满足搜索最基本的时长度的最小值，所述第二阈值为能够确保所述下游通信装置与所述中间通信装置保持同步的最大值。
  14. 根据权利要求12所述的中间通信装置，其特征在于，所述第二预设时长大于或等于第三阈值，所述第三阈值为能够使得所述下游通信装置与所述中间通信装置的晶振差异收敛到稳定值的最小值。
  15. 根据权利要求12所述的中间通信装置，其特征在于，所述通信模块， 若所述中间通信装置与所述上游通信装置同步，则等待与所述下游通信装置同步，具体还包括：
    根据与所述上游通信装置重新同步时的第二同步信息，向所述下游通信装置发送数据，以使所述下游通信装置与所述上游通信装置重新同步。
  16. 根据权利要求12所述的中间通信装置，其特征在于，所述第一预设时长与所述第二预设时长的比值介于0.5和2之间。
  17. 根据权利要求16所述的中间通信装置，其特征在于，所述通信模块与所述下游通信装置通信的占空比介于1/3和2/3之间。
  18. 根据权利要求12所述的中间通信装置，其特征在于，所述通信模块搜索所述上游通信装置的信号具体包括：进入全收状态，搜索所述上游通信装置的信号。
  19. 根据权利要求11-18任一项所述的中间通信装置，其特征在于，所述第一同步信息包括：频率偏移信息和/或时钟偏移信息。
  20. 根据权利要求11-18任一项所述的中间通信装置，其特征在于，所述第一同步信息包括：频率信息和/或定时信息。
  21. 一种通信系统，其特征在于，包括：权利要求11-20任一项所述的中间通信装置，所述中间通信装置的上游通信装置以及所述中间通信装置的下游通信装置。
  22. 根据权利要求21所述的通信系统，其特征在于，所述中间通信装置为控制台，所述上游通信装置为基站，所述下游通信装置为无人机。
  23. 根据权利要求21所述的通信系统，其特征在于，所述中间通信装置为中继无人机，所述上游通信装置为无人机，所述下游通信装置为控制台或者中继控制台。
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