WO2021057952A1 - 调制与编码策略值的控制方法及装置、存储介质 - Google Patents

调制与编码策略值的控制方法及装置、存储介质 Download PDF

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Publication number
WO2021057952A1
WO2021057952A1 PCT/CN2020/118040 CN2020118040W WO2021057952A1 WO 2021057952 A1 WO2021057952 A1 WO 2021057952A1 CN 2020118040 W CN2020118040 W CN 2020118040W WO 2021057952 A1 WO2021057952 A1 WO 2021057952A1
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Prior art keywords
drone
modulation
analysis result
error rate
coding strategy
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PCT/CN2020/118040
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English (en)
French (fr)
Inventor
高竹红
汤隆慧
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深圳市中兴微电子技术有限公司
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Publication of WO2021057952A1 publication Critical patent/WO2021057952A1/zh

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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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
    • H04L1/0015—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/00095—Systems or arrangements for the transmission of the picture signal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/41—Bandwidth or redundancy reduction

Definitions

  • the present disclosure relates to the field of communication technology, for example, to a method and device for controlling modulation and coding strategy values, and a storage medium.
  • UAV is an unmanned aircraft operated by radio remote control equipment and self-provided degree control device.
  • UAVs have been widely used in people's lives, including aerial photography, UAV seeding, fire fighting, remote sensing mapping, and military aspects.
  • the UAV system generally includes a UAV flying in the air and a remote controller that can receive images and control the UAV on the ground.
  • image transmission is an important part of the UAV system, the clarity of image transmission is very important.
  • the present disclosure provides a method, device, and storage medium for controlling modulation and encoding strategy values, so as to at least solve the problem of poor image quality of the image transmitted by the drone during the image transmission process of the drone in the related art.
  • a method for controlling modulation and coding strategy values includes: receiving first newly transmitted NDI information transmitted by a drone, wherein the first NDI information is used to instruct the drone to transmit the data to the remote controller.
  • the next image of the current image received by the remote control in the case that the remote control determines that the next image needs to be received according to the first NDI information, acquiring the N+1th transmission of the next image
  • the modulation and coding strategy value for the UAV is determined according to the magnitude relationship
  • a method for controlling modulation and coding strategy values comprises: acquiring first newly transmitted indication NDI information, wherein the first NDI information is used to instruct the drone to transmit the remote control to the remote controller. The next image of the current image received by the remote controller; transmitting the first NDI information to the remote controller, where the first NDI information is used to instruct the remote controller to perform the When the information determines that the next image needs to be received, the relationship between the first bit error rate of the N+1th transmission of the next image and the second bit error rate of the Nth transmission of the next image is obtained , And determine the adjustment mode of the modulation and coding strategy value of the UAV according to the size relationship, where N is a positive integer; receive the adjusted modulation and coding strategy value sent by the remote control, and according to the The adjusted modulation and coding strategy value transmits the next image.
  • a control system for modulation and coding strategy values including: a drone, configured to transmit first newly transmitted NDI information to a remote controller, wherein the first NDI information is used to indicate the drone
  • the next image of the current image received by the remote control is transmitted to the remote control;
  • the remote control is set to receive the first newly transmitted NDI information transmitted by the drone;
  • the remote control is also set to be in If it is determined according to the first NDI information that the next image needs to be received, the first bit error rate for the N+1th transmission of the next image and the second bit error rate for the Nth transmission of the next image are obtained.
  • a device for controlling modulation and coding strategy values is also provided, which is applied to a remote controller, and includes: a first receiving module configured to receive the first newly transmitted NDI information transmitted by the drone, wherein the first NDI information It is used to instruct the drone to transmit the next image of the current image received by the remote control to the remote control; the first processing module is configured to determine that the remote control needs to receive the current image according to the first NDI information.
  • the second processing module is set to determine the adjustment mode of the modulation and coding strategy value of the UAV according to the size relationship, and transmit the adjusted modulation and coding strategy value to the UAV to Instruct the drone to transmit the next image according to the adjusted modulation and coding strategy value.
  • a modulation and coding strategy value control device which is applied to a drone, and includes: an acquisition module configured to acquire first newly transmitted indication NDI information, wherein the first NDI information is used to indicate the drone The next image of the current image received by the remote control is transmitted to the remote control; the fifth processing module is configured to transmit the first NDI information to the remote control, wherein the first NDI information is used to indicate the remote control
  • the remote controller determines that the next image needs to be received according to the first NDI information
  • the remote controller acquires the first bit error rate of the N+1th transmission of the next image and the Nth transmission of the The size relationship of the second error rate of the next image, and the adjustment mode of the UAV modulation and coding strategy value is determined according to the size relationship, where N is a positive integer
  • the second receiving module is set to Receiving the adjusted modulation and coding strategy value sent by the remote controller, and transmitting the next image according to the adjusted modulation and coding strategy value.
  • a computer-readable storage medium includes a stored program, wherein the program executes the modulation and coding strategy value control method described in the present disclosure when the program runs.
  • An electronic device including a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to execute the modulation and coding strategy value control method described in the present disclosure.
  • Fig. 1 is a block diagram of the hardware structure of a terminal according to a method for controlling modulation and coding strategy values according to an embodiment of the present invention
  • Figure 2 is a flowchart of an optional modulation and coding strategy value control method according to an embodiment of the present invention
  • Fig. 3 is a schematic diagram of a subframe structure according to an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of an optional hybrid adaptive transmission process according to an embodiment of the present invention.
  • Fig. 5 is another flowchart of an optional modulation and coding strategy value control method according to an embodiment of the present invention.
  • Fig. 6 is a structural block diagram of an optional modulation and coding strategy value control system according to an embodiment of the present invention.
  • Fig. 7 is a structural block diagram (1) of an optional modulation and coding strategy value control device according to an embodiment of the present invention.
  • Fig. 8 is a structural block diagram (2) of an optional modulation and coding strategy value control device according to an embodiment of the present invention.
  • Fig. 9 is a structural block diagram (3) of an optional modulation and coding strategy value control device according to an embodiment of the present invention.
  • Fig. 10 is a structural block diagram (4) of an optional modulation and coding strategy value control device according to an embodiment of the present invention.
  • FIG. 1 is a hardware structure block diagram of a terminal according to a method for controlling modulation and coding strategy values according to an embodiment of the present invention.
  • a terminal such as a remote control
  • a terminal 10 may include one or more (only one is shown in FIG. 1) processor 102 (the processor 102 may include, but is not limited to, a microprocessor (Microcontroller Unit, MCU) or A programmable logic device (Field Programmable Gate Array, FPGA) and other processing devices) and a memory 104 for storing data.
  • processor 102 may include, but is not limited to, a microprocessor (Microcontroller Unit, MCU) or A programmable logic device (Field Programmable Gate Array, FPGA) and other processing devices
  • a memory 104 for storing data.
  • the above-mentioned mobile terminal may further include a transmission device 106 and an input/output device 108 for communication functions.
  • the structure shown in FIG. 1 is only for illustration, and does not limit the structure of the foregoing terminal.
  • the terminal 10 may also include more or fewer components than those shown in FIG. 1, or have the same functions as those shown in FIG. 1 or different configurations with more functions than those shown in FIG. 1.
  • the memory 104 may be configured to store computer programs, for example, software programs and modules of application software, such as the computer programs corresponding to the modulation and coding strategy value control method in the embodiment of the present invention.
  • the processor 102 runs the stored in the memory 104 Computer programs to execute various functional applications and data processing, that is, to realize the above-mentioned methods.
  • the memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 104 may further include a memory remotely provided with respect to the processor 102, and these remote memories may be connected to the terminal 10 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the transmission device 106 is used to receive or transmit data via a network.
  • the foregoing network example may include a wireless network provided by the communication provider of the terminal 10.
  • the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station to communicate with the Internet.
  • the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.
  • RF radio frequency
  • FIG. 2 is an optional method for controlling modulation and coding strategy values according to an embodiment of the present invention.
  • the flow chart, as shown in Figure 2, the method includes the following steps:
  • Step S202 The remote controller receives the first newly transmitted NDI information transmitted by the drone, and the first NDI information is used to instruct the drone to transmit to the remote controller the next image of the current image received by the remote controller. .
  • Step S204 In the case that the remote controller determines that the next image needs to be received according to the first NDI information, the remote controller acquires the first bit error rate and the first bit error rate of the N+1th transmission of the next image. The magnitude relationship of the second error rate of the next image transmitted for the Nth time, where N is a positive integer.
  • the foregoing N may be 2, and the Nth transmission is the second transmission of the next image by the remote control.
  • the remote control can obtain the first error rate of the next image in the third transmission and the second error rate of the next image in the second transmission, and compare the first error rate and the second error rate. Size relationship.
  • the value of N is not limited.
  • Step S206 The remote controller determines the adjustment mode of the modulation and coding strategy value of the UAV according to the magnitude relationship, and transmits the adjusted modulation and coding strategy value to the UAV to indicate The drone transmits the next image according to the adjusted modulation and coding strategy value.
  • the drone sends the first new transmission instruction NDI information to the remote control to instruct the drone to transmit the next image of the current image.
  • the remote control receives the first NDI information, it can be determined that the download needs to be received.
  • An image and then the remote control obtains the first error rate of the next image transmitted for the N+1 time and the second error rate of the next image transmitted for the Nth time, and determines the first error rate and the second error rate.
  • the size relationship of the code rate and then determine the adjustment method of the modulation and coding strategy value through the size relationship, and transmit the adjusted modulation and coding strategy value to the UAV to instruct the UAV according to the adjusted modulation and coding
  • the strategy value transmits the next image.
  • the above technical solution solves the problems of poor image quality of the image transmitted by the drone during the image transmission process of the drone in the related technology.
  • the remote control and the drone can adaptively adjust the image transmission, and achieve the technical effect of reducing the phenomenon of blurring, mosaic, and stuttering in the image transmission process.
  • the remote controller determines the adjustment mode of the modulation and coding strategy value of the drone according to the size relationship, including at least one of the following: When a bit error rate is greater than the second bit error rate, the first decision error rate corresponding to the adjustment mode of the modulation and coding strategy value is determined, and the first decision bit error rate is higher than the first threshold In the case of lowering the modulation and coding strategy value; in the case that the first error rate is less than the second error rate, determining the second decision error corresponding to the adjustment method of the modulation and encoding strategy value The code rate, when the second decision error rate is lower than a second threshold, increase the modulation and coding strategy value.
  • the remote control analyzes the received current image to obtain a first analysis result, and transmits the first analysis result to the drone.
  • An analysis result the drone is used to determine the second newly transmitted NDI information and version information according to the first analysis result in the case that the analysis result of the first analysis result is wrong, and to send to the remote control
  • the device transmits the second NDI information and the version information; the second NDI information is used to instruct the drone to retransmit the current image to the remote controller; the version information is used to indicate the drone Transmit the version number and transmission sequence of the current image; after the remote control receives the second NDI information and the version information, the remote control determines the drone transmission according to the second NDI information
  • the transmission mode of the current image is retransmission, and the version number of the current image transmitted by the drone and the transmission order are determined according to the version information.
  • the current image is analyzed, and the second analysis result is obtained.
  • the method further includes: in the case that the transmission order indicates that the UAV transmits the current image for the N+M time, the remote control unit according to the The first analysis result and the second analysis result are combined to analyze the current image to obtain a combined analysis result of the first analysis result and the second analysis result, where M is a positive integer.
  • N may be any value between 1 and 6
  • M may be any value between 1 and 6, and it is satisfied that N+M is less than or equal to 6. That is to say, for the above-mentioned current image, the drone can transmit 6 times to ensure that the above-mentioned remote control can correctly parse the current image.
  • the values of N and M are not limited.
  • the method further The method includes: if the analysis result of the second analysis result is correct, the remote control sends the second analysis result to the drone, and the drone is further configured to perform the analysis according to the second analysis result. Determine the first NDI information.
  • the embodiment of the present invention provides a hybrid adaptive transmission method suitable for drones, and the steps are as follows:
  • Step 1 is a schematic diagram of a subframe structure according to an embodiment of the present invention.
  • the UAV sends image transmission data in the D subframe, including subframes 0, 2, 3, 4, 5, and 7. 8, 9, the remote control receives the D subframe data and analyzes it; the remaining subframes, namely S subframes 1, 6 are used for time-sharing transmission of relevant control information between the UAV and the remote control.
  • FIG. 4 is a schematic diagram of an optional hybrid adaptive transmission process according to an embodiment of the present invention.
  • the remote control receives data of subframes 8, 9, 0, and 2 of radio frame N
  • the correct decoding is 1 (Acknowledgement (ACK))
  • the decoding error is Negative Acknowledgement (NACK) (0).
  • the decoding results of the four subframes are combined in the radio frame N+ Subframe 6 of 1 is sent to the UAV side.
  • Step 3 After the drone obtains the ACK/NACK information after analyzing the ACK/NACK information in the subframe 6 of the radio frame N+1, it plans the new data indicator (New Data Indicator, abbreviation) for the subframes 3, 4, 5, and 7 of the radio frame N+2. NDI), and redundancy version (Redundancy Version, RV for short) information, and the NDI/RV information is sent to the remote controller in 1 subframe of the radio frame N+2. NDI represents newly transmitted indication information, and RV corresponds to redundant version information.
  • New Data Indicator abbreviation
  • NDI redundancy version
  • RV redundancy Version
  • the NDI/RV information of the retransmission subframe can be planned in the following ways:
  • the UAV does not detect the ACK/NACK information, it will be processed as NACK according to the analysis result.
  • the NDI of the next transmission is planned to be 1, RV is 0, if a transmitted ACK/NACK information is NACK and the transmission is If the number of transmissions does not reach the maximum number of transmissions, the NDI is planned to be 0, and the RV is taken in the order of 0-2-3-1-0-2.
  • Step 4 After the remote controller parses the NDI/RV information in subframe 1 of radio frame N+2, it transmits new transmissions to subframes 3, 4, 5, and 7 of radio frame N+2 according to the parsed NDI/RV information. Decoding or retransmission combined decoding.
  • Step 5 If the NDI/RV reception on the remote control fails, try to decode the subframes 3, 4, 5, and 7 of the radio frame N+2 according to the last decoding situation of the transmission, and in the next decoding, according to the decoded After trying to decode, the planned NDI/RV judges whether the trying decoding parameters are correct, if correct, continue to merge according to the RV, and if it is incorrect, then decode according to the new transmission.
  • Step 6 the remote control side judges the difference between the current D subframe SNR and the average SNR during the new transmission and decoding process of the D subframe. If it is higher than the threshold -6dB, then the error of the subframe is determined. The code situation is calculated into the new transmission error rate Bler1. If it is not higher than the threshold -6dB, then no statistics are counted. According to the above method, the error rates Bler1 to Bler6 from one to six transmissions are respectively counted.
  • Alpha Beta+Alpha*(1-Beta); the initial value of Alpha is 0, and the initial value of Beta is 0.2;
  • Step 8 When NewBler is higher than the threshold Th2 (for example, NewBler is higher than 5%), reduce the modulation and coding strategy value; when NewBler is lower than the threshold Th3 (for example, NewBler is lower than 1%), increase the modulation and coding strategy value, and Notify the drone through the control information of the S subframe.
  • Th2 for example, NewBler is higher than 5%
  • Th3 for example, NewBler is lower than 1%
  • data transmission between the unmanned aerial vehicle and the remote controller is realized, starting from the bottom layer of the link, and improving the quality of image transmission.
  • this physical layer hybrid adaptive transmission method it can effectively solve the problems of image freezing and packet loss during the UAV image transmission process, thereby improving the UAV image transmission quality and improving the customer experience. effect.
  • FIG. 5 is an optional method for controlling modulation and coding strategy values according to an embodiment of the present invention. Another flowchart shown in Figure 5, the method includes the following steps:
  • Step S502 Acquire first new transmission indicating NDI information, where the first NDI information is used to instruct the drone to transmit to the remote control the next image of the current image received by the remote control.
  • Step S504 Transmit the first NDI information to the remote control, where the first NDI information is used to instruct the remote control to determine when the remote control needs to receive the next image according to the first NDI information.
  • the magnitude relationship between the first error rate of the next image transmitted for the N+1 time and the second error rate of the next image transmitted for the Nth time is obtained, and the relationship between the bit error rate and the second bit error rate of the next image is determined according to the magnitude relationship.
  • the adjustment mode of the UAV modulation and coding strategy value, N is a positive integer.
  • the foregoing N may be 2, and the Nth transmission is the second transmission of the next image by the remote control.
  • the remote control can obtain the first error rate of the next image in the third transmission and the second error rate of the next image in the second transmission, and compare the first error rate and the second error rate. Size relationship.
  • the value of N is not limited.
  • Step S506 Receive the adjusted modulation and coding strategy value sent by the remote controller, and transmit the next image according to the adjusted modulation and coding strategy value.
  • the drone after the drone obtains the first new transmission instruction information, it can send the first new transmission instruction NDI information to the remote control to instruct the drone to transmit the next image of the current image to the remote control.
  • the receiver receives the first NDI information, it can determine that it needs to receive the next image, and then the remote control obtains the first bit error rate of the N+1th transmission of the next image and the Nth transmission of the next image.
  • the man-machine can transmit the next image according to the adjusted modulation and coding strategy value.
  • the method may further include: receiving the first NDI information obtained after the remote controller parses the current image. An analysis result; in the case that the analysis result of the first analysis result is wrong, determine the second newly transmitted NDI information and version information according to the first analysis result, and transmit the second NDI to the remote control Information and the version information; the second NDI information is used to instruct the drone to retransmit the current image to the remote controller; the version information is used to indicate the version of the current image transmitted by the drone Number and transmission order.
  • the method according to the foregoing embodiment can be implemented by software plus a necessary general hardware platform, or can be implemented by hardware.
  • the present disclosure can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), and includes multiple instructions to enable a terminal device (which can be a mobile phone, a computer, etc.) , A server, or a network device, etc.) execute the method described in each embodiment of the present disclosure.
  • FIG. 6 is a structural block diagram of an optional modulation and coding strategy value control system according to an embodiment of the present invention, as shown in FIG. 6 , The system includes:
  • the drone 50 is configured to transmit first new transmission indicating NDI information to the remote controller, and the first NDI information is used to instruct the drone to transmit to the remote controller the download of the current image received by the remote controller.
  • An image; the remote control 52 is set to receive the first newly transmitted NDI information transmitted by the drone; the remote control 52 is also set to receive the next image when it is determined according to the first NDI information
  • N is a positive integer; the remote control
  • the device 52 is further configured to determine the adjustment mode of the modulation and coding strategy value of the UAV according to the magnitude relationship, and transmit the adjusted modulation and coding strategy value to the UAV to indicate the The drone transmits the next image according to the adjusted modulation and coding strategy value.
  • the remote control 52 is set to perform at least one of the following: when the first error rate is greater than the second error rate, determining the modulation and coding strategy value Adjust the first decision error rate corresponding to the adjustment mode, if the first decision error rate is higher than the first threshold, reduce the modulation and coding strategy value; when the first error rate is less than the first threshold In the case of the second error rate, determine the second decision error rate corresponding to the adjustment mode of the modulation and coding strategy value, and when the second decision error rate is lower than the second threshold, increase the modulation And coding strategy value.
  • the remote control 52 is further configured to analyze the current image received to obtain a first analysis result, and transmit the first analysis result to the drone; the drone 50.
  • the remote control 52 determines the second newly transmitted NDI information and version information according to the first analysis result, and transmit the second NDI information to the remote controller.
  • the second NDI information is used to instruct the UAV to retransmit the current image to the remote controller;
  • the version information is used to indicate that the UAV transmits the current image Version number and transmission order;
  • the remote control 52 is also set to determine the current image transmission by the drone according to the second NDI information after receiving the second NDI information and the version information
  • the transmission method is retransmission, and the version number of the current image transmitted by the drone and the transmission order are determined according to the version information, and the current image of the version number and the transmission order is analyzed, Obtain the second analysis result.
  • the remote controller 52 is further configured to, when the transmission order instructs the UAV to transmit the current image for the N+Mth time, according to the first analysis result and the first analysis result
  • the second analysis result performs a combined analysis on the current image to obtain a combined analysis result of the first analysis result and the second analysis result
  • M is a positive integer.
  • the remote controller 52 is further configured to send the second analysis result to the drone when the analysis result of the second analysis result is correct; the drone 50 also Set to determine the first NDI information according to the second analysis result.
  • a device for controlling modulation and coding strategy values is also provided, which is used to implement the above-mentioned embodiments and optional implementation manners, and those that have been described will not be repeated.
  • modulation and coding strategy values may be a combination of software and/or hardware for realizing predetermined functions.
  • Fig. 7 is a structural block diagram (1) of an optional modulation and coding strategy value control device according to an embodiment of the present invention. As shown in Fig. 7, it is applied to a remote control.
  • the device includes: a first receiving module 60, In order to receive the first newly transmitted NDI information transmitted by the drone, the first NDI information is used to instruct the drone to transmit to the remote control the next image of the current image received by the remote control; first processing The module 62 is configured to obtain the first bit error rate and the Nth bit error rate of the N+1th transmission of the next image when the remote controller determines that the next image needs to be received according to the first NDI information.
  • the magnitude relationship of the second bit error rate of the next image transmitted at a time, N is a positive integer; the second processing module 64 is configured to determine the adjustment of the UAV modulation and coding strategy values according to the magnitude relationship And transmitting the adjusted modulation and coding strategy value to the UAV to instruct the UAV to transmit the next image according to the adjusted modulation and coding strategy value.
  • the drone sends the first new transmission instruction NDI information to the remote control to instruct the drone to transmit the next image of the current image.
  • the remote control receives the first NDI information, it can be determined that the download needs to be received.
  • An image and then the remote control obtains the first error rate of the next image transmitted for the N+1 time and the second error rate of the next image transmitted for the Nth time, and determines the first error rate and the second error rate.
  • the size relationship of the code rate and then determine the adjustment method of the modulation and coding strategy value through the size relationship, and transmit the adjusted modulation and coding strategy value to the UAV to instruct the UAV according to the adjusted modulation and coding
  • the strategy value transmits the next image.
  • the above technical solution solves the problems of poor image quality of the image transmitted by the drone during the image transmission process of the drone in the related technology.
  • the remote control and the drone can adaptively adjust the image transmission, and achieve the technical effect of reducing the phenomenon of blurring, mosaic, and stuttering in the image transmission process.
  • the second processing module is configured to determine the modulation and coding strategy value when the first error rate is greater than the second error rate
  • FIG. 8 is a structural block diagram (2) of an optional modulation and coding strategy value control device according to an embodiment of the present invention.
  • the device further includes: a third processing module 66.
  • the analysis result is incorrect, determine the second newly transmitted NDI information and version information according to the first analysis result, and transmit the second NDI information and the version information to the remote controller
  • the second NDI information is used to instruct the drone to retransmit the current image to the remote controller
  • the version information is used to indicate the version number and transmission order of the current image transmitted by the drone
  • the third processing module 66 It is further configured to determine, according to the second NDI information, that the transmission mode of the current image transmitted by the drone is retransmission after the remote control receives the second NDI information and the version information, and according to The version information determines the version
  • the device further includes: a fourth processing module 68 configured to instruct the UAV to transmit the current image for the N+M time in the transmission order Next, perform a combined analysis on the current image according to the first analysis result and the second analysis result to obtain a combined analysis result of the first analysis result and the second analysis result, and M is a positive integer.
  • a fourth processing module 68 configured to instruct the UAV to transmit the current image for the N+M time in the transmission order Next, perform a combined analysis on the current image according to the first analysis result and the second analysis result to obtain a combined analysis result of the first analysis result and the second analysis result, and M is a positive integer.
  • the device further includes a sending module 70 configured to send the second analysis result to the drone when the analysis result of the second analysis result is correct.
  • the analysis result so that the drone determines the first NDI information according to the second analysis result.
  • Fig. 9 is a structural block diagram (3) of an optional modulation and coding strategy value control device according to an embodiment of the present invention. As shown in Fig. 9, it is applied to an unmanned aerial vehicle.
  • the device includes: an acquisition module 90 configured to Acquire the first new transmission indicating NDI information, the first NDI information is used to instruct the drone to transmit to the remote control the next image of the current image received by the remote control; the fifth processing module 92 is configured to send the remote control The first NDI information is transmitted, and the first NDI information is used to instruct the remote control to acquire the N+1th image when the remote control determines that it needs to receive the next image according to the first NDI information.
  • the magnitude relationship between the first error rate of the next image transmitted for the Nth time and the second error rate of the next image transmitted for the Nth time, and the modulation and coding of the UAV are determined according to the magnitude relationship
  • the adjustment method of the strategy value, N is a positive integer;
  • the second receiving module 94 is configured to receive the adjusted modulation and coding strategy value sent by the remote controller, and transmit the adjusted modulation and coding strategy value according to the adjusted modulation and coding strategy value.
  • the drone after the drone obtains the first new transmission instruction information, it can send the first new transmission instruction NDI information to the remote control to instruct the drone to transmit the next image of the current image to the remote control.
  • the receiver receives the first NDI information, it can determine that it needs to receive the next image, and then the remote control obtains the first bit error rate of the N+1th transmission of the next image and the Nth transmission of the next image.
  • the man-machine can transmit the next image according to the adjusted modulation and coding strategy value.
  • FIG. 10 is a structural block diagram (4) of an optional modulation and coding strategy value control device according to an embodiment of the present invention.
  • the device further includes: a third receiving module 96.
  • the sixth processing module 98 is set to, in the case that the analysis result of the first analysis result is wrong, according to the The first analysis result determines the second newly transmitted NDI information and version information, and transmits the second NDI information and the version information to the remote controller;
  • the second NDI information is used to instruct the drone to
  • the remote controller retransmits the current image;
  • the version information is used to indicate the version number and transmission order of the current image transmitted by the drone.
  • An embodiment of the present invention also provides a computer-readable storage medium, the storage medium includes a stored program, and the method described in any of the foregoing embodiments is executed when the program is running.
  • the aforementioned storage medium may be configured to store program code for executing the following steps:
  • the remote controller receives the first newly transmitted NDI information transmitted by the drone, where the first NDI information is used to instruct the drone to transmit to the remote controller the next image of the current image received by the remote controller.
  • the remote controller determines that the next image needs to be received according to the first NDI information
  • the remote controller acquires the first error rate and the first bit error rate of the N+1th transmission of the next image.
  • the magnitude relationship of the second bit error rate for transmitting the next image N times, and N is a positive integer.
  • the remote controller determines the adjustment mode of the modulation and coding strategy value of the UAV according to the size relationship, and transmits the adjusted modulation and coding strategy value to the UAV to instruct the The drone transmits the next image according to the adjusted modulation and coding strategy value.
  • the foregoing storage medium may include, but is not limited to: U disk, Read-Only Memory (Read-Only Memory, ROM for short), Random Access Memory (Random Access Memory, RAM for short), Various media that can store program codes, such as mobile hard disks, magnetic disks, or optical disks.
  • An embodiment of the present invention also provides an electronic device including a memory and a processor, the memory is stored with a computer program, and the processor is configured to run the computer program to execute the steps in any of the foregoing method embodiments.
  • the aforementioned electronic device may further include a transmission device and an input-output device, where the transmission device is connected to the aforementioned processor, and the aforementioned input-output device is connected to the aforementioned processor.
  • the foregoing processor may be configured to execute the following steps through a computer program:
  • the remote controller receives the first newly transmitted NDI information transmitted by the drone, where the first NDI information is used to instruct the drone to transmit to the remote controller the next image of the current image received by the remote controller.
  • the remote controller determines that the next image needs to be received according to the first NDI information
  • the remote controller acquires the first error rate and the first bit error rate of the N+1th transmission of the next image.
  • the magnitude relationship of the second bit error rate for transmitting the next image N times, and N is a positive integer.
  • the remote controller determines the adjustment mode of the modulation and coding strategy value of the UAV according to the size relationship, and transmits the adjusted modulation and coding strategy value to the UAV to instruct the The drone transmits the next image according to the adjusted modulation and coding strategy value.
  • An embodiment of the present invention also provides a computer-readable storage medium, the storage medium includes a stored program, and the method described in any of the foregoing embodiments is executed when the program is running.
  • the aforementioned storage medium may be configured to store program code for executing the following steps:
  • S3 Receive the adjusted modulation and coding strategy value sent by the remote controller, and transmit the next image according to the adjusted modulation and coding strategy value.
  • the foregoing storage medium may include, but is not limited to: U disk, Read-Only Memory (Read-Only Memory, ROM for short), Random Access Memory (Random Access Memory, RAM for short), Various media that can store program codes, such as mobile hard disks, magnetic disks, or optical disks.
  • An embodiment of the present invention also provides an electronic device including a memory and a processor, the memory is stored with a computer program, and the processor is configured to run the computer program to execute the steps in any of the foregoing method embodiments.
  • the aforementioned electronic device may further include a transmission device and an input-output device, where the transmission device is connected to the aforementioned processor, and the aforementioned input-output device is connected to the aforementioned processor.
  • the foregoing processor may be configured to execute the following steps through a computer program:
  • S3 Receive the adjusted modulation and coding strategy value sent by the remote controller, and transmit the next image according to the modulation and coding strategy value.
  • multiple modules or multiple steps of the present disclosure can be implemented by a general computing device, and they can be concentrated on a single computing device or distributed in a network composed of multiple computing devices.
  • they can be implemented with program codes executable by the computing device, so that they can be stored in the storage device for execution by the computing device, and in some cases, can be executed in a different order than here.
  • the present disclosure is not limited to any specified combination of hardware and software.

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Abstract

本公开提供了一种调制与编码策略值的控制方法及装置、存储介质、电子装置，该方法包括：接收无人机传输的第一新传指示NDI信息，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，N为正整数；根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。

Description

调制与编码策略值的控制方法及装置、存储介质
本申请要求在2019年09月27日提交中国专利局、申请号为201910927970.9的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本公开涉及通信技术领域，例如涉及一种调制与编码策略值的控制方法及装置、存储介质。
背景技术
无人机是利用无线电遥控设备和自备的程度控制装置操纵的不载人飞机。无人机已经广泛应用于人们的生活中，包括航拍、无人机播种、消防、遥感测绘以及军事方面等。无人机系统一般包括空中飞行的无人机以及地面端可以接收图像和操控无人机的遥控器。而图像传输作为无人机系统的重要功能组成部分，图像传输的清晰度至关重要。
但是，在无人机图像传输过程中，存在无人机所传输的图像的图像质量差等问题。
发明内容
本公开提供了一种调制与编码策略值的控制方法及装置、存储介质，以至少解决相关技术中，无人机图像传输过程中，存在无人机所传输的图像的图像质量差等问题。
提供了一种调制与编码策略值的控制方法，包括：接收无人机传输的第一新传指示NDI信息，其中，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，其中，N为正整数；根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
还提供了一种调制与编码策略值的控制方法，其特征在于，包括：获取第一新传指示NDI信息，其中，所述第一NDI信息用于指示无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；向所述遥控器传输所述第一NDI 信息，其中，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，其中，N为正整数；接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调整后的调制与编码策略值传输所述下一个图像。
还提供了一种调制与编码策略值的控制系统，包括：无人机，设置为向遥控器传输第一新传指示NDI信息，其中，所述第一NDI信息用于指示所述无人机向所述遥控器传输所述遥控器接收到的当前图像的下一个图像；所述遥控器，设置为接收无人机传输的第一新传指示NDI信息；所述遥控器，还设置为在根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，其中，N为正整数；所述遥控器，还设置为根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
还提供了一种调制与编码策略值的控制装置，应用于遥控器，包括：第一接收模块，设置为接收无人机传输的第一新传指示NDI信息，其中，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；第一处理模块，设置为在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，其中，N为正整数；第二处理模块，设置为根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
还提供了一种调制与编码策略值的控制装置，应用于无人机，包括：获取模块，设置为获取第一新传指示NDI信息，其中，所述第一NDI信息用于指示无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；第五处理模块，设置为向遥控器传输所述第一NDI信息，其中，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，其中，N为正整数；第二接收模块，设置为接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调整后的调制与编码策略值传输所述下一个图像。
还提供了一种计算机可读的存储介质，所述存储介质包括存储的程序，其中，所述程序运行时执行本公开所述的调制与编码策略值的控制方法。
还提供了一种电子装置，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行本公开所述的调制与编码策略值的控制方法。
附图说明
图1是根据本发明实施例的一种调制与编码策略值的控制方法的终端的硬件结构框图；
图2是根据本发明实施例一种可选的调制与编码策略值的控制方法的流程图；
图3是根据本发明实施例的一种子帧结构示意图；
图4是根据本发明实施例的一种可选的混合自适应传输过程的示意图；
图5是根据本发明实施例一种可选的调制与编码策略值的控制方法的另一流程图；
图6是根据本发明实施例的一种可选的调制与编码策略值的控制系统的结构框图；
图7是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(一)；
图8是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(二)；
图9是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(三)；
图10是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(四)。
具体实施方式
下文中将参考附图并结合实施例来说明本公开。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
本申请实施例所提供的方法实施例可以在移动终端、计算机终端或者类似的运算装置中执行。以运行在终端(如遥控器)上为例，图1是根据本发明实施例的一种调制与编码策略值的控制方法的终端的硬件结构框图。如图1所示，终端(如遥控器)10可以包括一个或多个(图1中仅示出一个)处理器102(处理器102可以包括但不限于微处理器(Microcontroller Unit，MCU)或可编程逻辑器件(Field Programmable Gate Array，FPGA)等的处理装置)和用于存储数据的存储器104，可选地，上述移动终端还可以包括用于通信功能的传输设备106以及输入输出设备108。图1所示的结构仅为示意，并不对上述终端的结构造成限定。例如，终端10还可包括比图1中所示更多或者更少的组件，或者具有与图1所示等同功能或比图1所示功能更多的不同的配置。
存储器104可设置为存储计算机程序，例如，应用软件的软件程序以及模块，如本发明实施例中的调制与编码策略值的控制方法对应的计算机程序，处理器102通过运行存储在存储器104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至终端10。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输装置106用于经由一个网络接收或者传输数据。上述的网络实例可包括终端10的通信供应商提供的无线网络。在一个实例中，传输装置106包括一个网络适配器(网络接口控制器)(Network Interface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输装置106可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。
在本实施例中提供了一种运行于上述图1所示的终端的调制与编码策略值的控制方法，图2是根据本发明实施例一种可选的调制与编码策略值的控制方法的流程图，如图2所示，该方法包括如下步骤：
步骤S202，遥控器接收无人机传输的第一新传指示NDI信息，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像。
步骤S204，在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，所述遥控器获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，N为正整数。
上述N可以为2，那么第N次传输即为遥控器第2次传输所述下一个图像。 也就是说，遥控器可以获取第3次传输下一次图像的第一误码率和第2次传输下一个图像的第二误码率，并比较第一误码率和第二误码率的大小关系。本发明实施例中对于N的取值不作限定。
步骤S206，所述遥控器根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
通过本公开，无人机向遥控器发送第一新传指示NDI信息，以指示无人机传输当前图像的下一个图像，在遥控器接收到该第一NDI信息时，可以确定需要接收该下一个图像，然后遥控器获取第N+1次传输该下一个图像的第一误码率和第N次传输该下一个图像的第二误码率，并确定第一误码率和第二误码率的大小关系，进而通过该大小关系确定调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输给无人机，以指示无人机根据该调整后的调制与编码策略值传输所述下一个图像。采用上述技术方案，解决了相关技术中，无人机图像传输过程中，存在无人机所传输的图像的图像质量差等问题。通过上述技术方案，能够使遥控器和无人机自适应调整图像的传输，达到减少图像传输过程中出现的花屏、马赛克、卡顿等现象的技术效果。
可选地，上述步骤S206可以通过多种方式实现，所述遥控器根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，包括以下至少之一：在所述第一误码率大于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第一判决误码率，在所述第一判决误码率高于第一阈值的情况下，降低所述调制与编码策略值；在所述第一误码率小于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第二判决误码率，在所述第二判决误码率低于第二阈值的情况下，提高所述调制与编码策略值。
本发明实施例中，在上述步骤S202之前，还可以包括以下步骤：所述遥控器对接收到的所述当前图像进行解析，得到第一解析结果，并向所述无人机传输所述第一解析结果，所述无人机用于在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；所述第二NDI信息用于指示所述无人机向遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序；在所述遥控器接收到所述第二NDI信息和所述版本信息之后，所述遥控器根据所述第二NDI信息确定所述无人机传输所述当前图像的传输方式为重传，以及根据所述版本信息确定所述无人机传输所述当前图像的版本号和所述传输次序，对所述版本号和所述传输次序的所述当前图像进行解析，得到第二解析结果。
在通过上述方法得到第二解析结果之后，所述方法还包括：在所述传输次序指示所述无人机为第N+M次传输所述当前图像的情况下，所述遥控器根据所述第一解析结果和所述第二解析结果对所述当前图像进行合并解析，得到所述第一解析结果和所述第二解析结果的合并解析结果，M为正整数。
上述N可以为1至6之间任意一个值，上述M可以为1至6之间任意一个值，且满足N+M小于等于6。也就是说，对于上述当前图像，无人机可以传输6次以保证上述遥控器可以正确解析该当前图像。本发明实施例中对于N和M的取值不作限定。
可选地，为了说明在什么情况下所述遥控器接收无人机传输的第一新传指示NDI信息，在遥控器接收无人机传输的第一新传指示NDI信息之前，所述方法还包括：在所述第二解析结果的解析结果正确的情况下，所述遥控器向所述无人机发送所述第二解析结果，所述无人机还用于根据所述第二解析结果确定所述第一NDI信息。
以下结合一示例对调制与编码策略值的控制过程进行解释说明，但不用于限定本发明实施例的技术方案，本发明示例的技术方案如下：
本发明实施例提供了一种适用于无人机的混合自适应传输方法，步骤如下：
步骤1，图3是根据本发明实施例的一种子帧结构示意图，如图3所示，无人机在D子帧发送图像传输数据，包括子帧0、2、3、4、5、7、8、9,遥控器接收D子帧数据并解析；剩余子帧即S子帧1、6用于无人机和遥控器分时传输相关控制信息。
步骤2，图4是根据本发明实施例的一种可选的混合自适应传输过程的示意图，如图4所示，遥控器接收到无线帧N的子帧8、9、0、2的数据并解码后，根据解码结果，解码正确为1(肯定应答(Acknowledgement，ACK)),解码错误为否定应答(Negative Acknowledgement，NACK)(0)，将四个子帧的解码结果一起在无线帧N+1的子帧6发送给无人机侧。
步骤3，无人机在无线帧N+1的子帧6解析得到ACK/NACK信息后，规划无线帧N+2的子帧3、4、5、7的新传指示(New Data Indicator，简称NDI)，以及冗余版本(Redundancy Version，简称RV)信息，并将NDI/RV信息在无线帧N+2的1子帧发送给遥控器。NDI表示新传指示信息，RV对应于冗余版本信息。
在无人机接收到ACK/NACK信息后，对重传子帧的NDI/RV信息进行规划，可以通过以下几种方式实现：
1.如果无人机未检测到该ACK/NACK信息，则按照解析结果全部为NACK 处理。
2.如果一个传输的ACK/NACK信息为ACK且已经达到了最大传输次数6次,则规划下一次传输的NDI为1，RV为0，如果一个传输的ACK/NACK信息为NACK并且该传输的传输次数未达到最大传输次数，则规划NDI为0，且RV按照0-2-3-1-0-2顺序取值。
步骤4，遥控器在无线帧N+2的子帧1解析到NDI/RV信息后，根据解析到的NDI/RV信息对无线帧N+2的子帧3、4、5、7进行新传解码或者重传合并解码。
步骤5，如果遥控器侧NDI/RV接收失败，根据该传输上次解码情况对无线帧N+2的子帧3、4、5、7进行一次尝试解码，并在下次解码时，根据解码的在尝试解码后规划出的NDI/RV判断尝试解码参数是否正确，正确则根据RV继续合并，不正确，则按照新传解码。
步骤6，遥控器侧在进行D子帧新传解码的过程中，判断当前D子帧的信噪比与平均信噪比的差值，如果高于门限-6dB，则将该子帧的误码情况计算到新传误码率Bler1中，如果不高于门限-6dB，则不统计，按照上述方法分别统计一传至六传的误码率Bler1～Bler6。
对于三传还包括以下两种情况：
1.当三传误码率增大，并且三传解析错误时：
Alpha＝Beta+Alpha*(1-Beta)；Alpha初值为0，Beta初值为0.2；
2.当三传误码率降低，并且三传解析正确时：Alpha＝Alpha*(1-Beta)；
步骤7，最终得出调制与编码策略值升降的判决误码率：NewBler＝Bler1+(NewBler-Bler1)*Alpha；NewBler初值为0。
步骤8，当NewBler高于门限Th2时(例如NewBler高于5％)，降低调制与编码策略值，当NewBler低于门限Th3时(例如NewBler低于1％)，提高调制与编码策略值，并通过S子帧的控制信息通知无人机。
通过本发明实施例进行无人飞行器和遥控器之间数据传输，实现了从链路最底层出发，提高图像传输的质量。也就是说，通过使用这种物理层混合自适应传输方法，能有效解决无人机图像传输过程中的图像卡顿，丢包等问题，从而提高无人机的图像传输质量，提升客户的体验效果。
在本实施例中还提供了一种运行于上述图1所示的终端的调制与编码策略值的控制方法，图5是根据本发明实施例一种可选的调制与编码策略值的控制 方法的另一流程图，如图5所示，该方法包括如下步骤：
步骤S502，获取第一新传指示NDI信息，所述第一NDI信息用于指示无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像。
步骤S504，向所述遥控器传输所述第一NDI信息，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，N为正整数。
上述N可以为2，那么第N次传输即为遥控器第2次传输所述下一个图像。也就是说，遥控器可以获取第3次传输下一次图像的第一误码率和第2次传输下一个图像的第二误码率，并比较第一误码率和第二误码率的大小关系。本发明实施例中对于N的取值不作限定。
步骤S506，接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调整后的调制与编码策略值传输所述下一个图像。
通过本公开，无人机在获取到第一新传指示信息之后，可以向遥控器发送该第一新传指示NDI信息，以指示无人机向遥控器传输当前图像的下一个图像，在遥控器接收到该第一NDI信息时，可以确定需要接收该下一个图像，然后遥控器获取第N+1次传输该下一个图像的第一误码率和第N次传输该下一个图像的第二误码率，并确定第一误码率和第二误码率的大小关系，进而通过该大小关系确定调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输给无人机，在无人机接收到该调制与编码策略值时，可以根据该调整后的调制与编码策略值传输所述下一个图像。采用上述技术方案，解决了相关技术中，无人机图像传输过程中，存在无人机所传输的图像的图像质量差等问题。通过上述技术方案，能够使遥控器和无人机自适应调整图像的传输，达到减少图像传输过程中出现的花屏、马赛克、卡顿等现象的技术效果。
可选地，在上述步骤S504之前可以包括以下实现方式，在向遥控器传输所述第一NDI信息之前，所述方法还包括：接收所述遥控器对所述当前图像所解析后得到的第一解析结果；在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；所述第二NDI信息用于指示所述无人机向遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序。
通过以上的实施方式的描述，根据上述实施例的方法可借助软件加必需的 通用硬件平台的方式来实现，也可以通过硬件实现。本公开可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括多条指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本公开各个实施例所述的方法。
在本实施例中还提供了一种调制与编码策略值的控制系统，图6是根据本发明实施例的一种可选的调制与编码策略值的控制系统的结构框图，如图6所示，所述系统包括：
无人机50，设置为向遥控器传输第一新传指示NDI信息，所述第一NDI信息用于指示所述无人机向所述遥控器传输所述遥控器接收到的当前图像的下一个图像；所述遥控器52，设置为接收无人机传输的第一新传指示NDI信息；所述遥控器52，还设置为在根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，N为正整数；所述遥控器52，还设置为根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
本发明实施例中，所述遥控器52，是设置为至少执行以下之一：在所述第一误码率大于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第一判决误码率，在所述第一判决误码率高于第一阈值的情况下，降低所述调制与编码策略值；在所述第一误码率小于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第二判决误码率，在所述第二判决误码率低于第二阈值的情况下，提高所述调制与编码策略值。
可选地，所述遥控器52，还设置为对接收到的所述当前图像进行解析，得到第一解析结果，并向所述无人机传输所述第一解析结果；所述无人机50，还设置为在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；所述第二NDI信息用于指示所述无人机向遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序；所述遥控器52，还设置为在接收到所述第二NDI信息和所述版本信息之后，根据所述第二NDI信息确定所述无人机传输所述当前图像的传输方式为重传，以及根据所述版本信息确定所述无人机传输所述当前图像的版本号和所述传输次序，对所述版本号和所述传输次序的所述当前图像进行解析，得到第二解析结果。
可选地，所述遥控器52，还设置为在所述传输次序指示所述无人机为第N+M次传输所述当前图像的情况下，根据所述第一解析结果和所述第二解析结果对所述当前图像进行合并解析，得到所述第一解析结果和所述第二解析结果的合并解析结果，M为正整数。
可选地，所述遥控器52，还设置为在所述第二解析结果的解析结果正确的情况下，向所述无人机发送所述第二解析结果；所述无人机50，还设置为根据所述第二解析结果确定所述第一NDI信息。
在本实施例中还提供了一种调制与编码策略值的控制装置，该装置用于实现上述实施例及可选实施方式，已经进行过说明的不再赘述。以下所使用的术语“模块”可以为用于实现预定功能的软件和/或硬件的组合。
图7是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(一)，如图7所示，应用于遥控器，该装置包括：第一接收模块60，设置为接收无人机传输的第一新传指示NDI信息，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；第一处理模块62，设置为在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，N为正整数；第二处理模块64，设置为根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
通过本公开，无人机向遥控器发送第一新传指示NDI信息，以指示无人机传输当前图像的下一个图像，在遥控器接收到该第一NDI信息时，可以确定需要接收该下一个图像，然后遥控器获取第N+1次传输该下一个图像的第一误码率和第N次传输该下一个图像的第二误码率，并确定第一误码率和第二误码率的大小关系，进而通过该大小关系确定调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输给无人机，以指示无人机根据该调整后的调制与编码策略值传输所述下一个图像。采用上述技术方案，解决了相关技术中，无人机图像传输过程中，存在无人机所传输的图像的图像质量差等问题。通过上述技术方案，能够使遥控器和无人机自适应调整图像的传输，达到减少图像传输过程中出现的花屏、马赛克、卡顿等现象的技术效果。
本发明实施例中，如图7所示，所述第二处理模块，是设置为在所述第一误码率大于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第一判决误码率，在所述第一判决误码率高于第一阈值的情况下，降低 所述调制与编码策略值；在所述第一误码率小于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第二判决误码率，在所述第二判决误码率低于第二阈值的情况下，提高所述调制与编码策略值。
本发明实施例中，图8是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(二)，如图8所示，所述装置还包括：第三处理模块66，设置为对接收到的所述当前图像进行解析，得到第一解析结果，并向所述无人机传输所述第一解析结果，以使所述无人机在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；所述第二NDI信息用于指示所述无人机向遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序；第三处理模块66，还设置为在所述遥控器接收到所述第二NDI信息和所述版本信息之后，根据所述第二NDI信息确定所述无人机传输所述当前图像的传输方式为重传，以及根据所述版本信息确定所述无人机传输所述当前图像的版本号和所述传输次序，对所述版本号和所述传输次序的所述当前图像进行解析，得到第二解析结果。
本发明实施例中，如图8所示，所述装置还包括：第四处理模块68，设置为在所述传输次序指示所述无人机为第N+M次传输所述当前图像的情况下，根据所述第一解析结果和所述第二解析结果对所述当前图像进行合并解析，得到所述第一解析结果和所述第二解析结果的合并解析结果，M为正整数。
本发明实施例中，如图8所示，所述装置还包括：发送模块70，设置为在所述第二解析结果的解析结果正确的情况下，向所述无人机发送所述第二解析结果，以使所述无人机根据所述第二解析结果确定所述第一NDI信息。
图9是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(三)，如图9所示，应用于无人机，该装置包括：获取模块90，设置为获取第一新传指示NDI信息，所述第一NDI信息用于指示无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；第五处理模块92，设置为向遥控器传输所述第一NDI信息，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，N为正整数；第二接收模块94，设置为接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调整后的调制与编码策略值传输所述下一个图像。
通过本公开，无人机在获取到第一新传指示信息之后，可以向遥控器发送 该第一新传指示NDI信息，以指示无人机向遥控器传输当前图像的下一个图像，在遥控器接收到该第一NDI信息时，可以确定需要接收该下一个图像，然后遥控器获取第N+1次传输该下一个图像的第一误码率和第N次传输该下一个图像的第二误码率，并确定第一误码率和第二误码率的大小关系，进而通过该大小关系确定调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输给无人机，在无人机接收到该调制与编码策略值时，可以根据该调整后的调制与编码策略值传输所述下一个图像。采用上述技术方案，解决了相关技术中，无人机图像传输过程中，存在无人机所传输的图像的图像质量差等问题。通过上述技术方案，能够使遥控器和无人机自适应调整图像的传输，达到减少图像传输过程中出现的花屏、马赛克、卡顿等现象的技术效果。
本发明实施例中，图10是根据本发明实施例一种可选的调制与编码策略值的控制装置的结构框图(四)，如图10所示，所述装置还包括：第三接收模块96，设置为接收所述遥控器对所述当前图像所解析后得到的第一解析结果；第六处理模块98，设置为在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；所述第二NDI信息用于指示所述无人机向遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序。
本发明的实施例还提供了一种计算机可读的存储介质，该存储介质包括存储的程序，上述程序运行时执行上述任一实施例所述的方法。
可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
S1，遥控器接收无人机传输的第一新传指示NDI信息，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像。
S2，在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，所述遥控器获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，N为正整数。
S3，所述遥控器根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access  Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一方法实施例中的步骤。
可选地，上述电子装置还可以包括传输设备以及输入输出设备，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：
S1，遥控器接收无人机传输的第一新传指示NDI信息，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像。
S2，在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，所述遥控器获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，N为正整数。
S3，所述遥控器根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
可选地，本实施例中的示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
本发明的实施例还提供了一种计算机可读的存储介质，该存储介质包括存储的程序，上述程序运行时执行上述任一实施例所述的方法。
可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
S1，获取第一新传指示NDI信息，所述第一NDI信息用于指示无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像。
S2，向所述遥控器传输所述第一NDI信息，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，N为正整数；
S3，接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调整 后的调制与编码策略值传输所述下一个图像。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一方法实施例中的步骤。
可选地，上述电子装置还可以包括传输设备以及输入输出设备，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：
S1，获取第一新传指示NDI信息，所述第一NDI信息用于指示无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像。
S2，向所述遥控器传输所述第一NDI信息，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，N为正整数。
S3，接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调制与编码策略值传输所述下一个图像。
可选地，本实施例中的示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
本领域的技术人员应该明白，上述的本公开的多个模块或多个步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成多个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。本公开不限制于任何指定的硬件和软件结合。

Claims (16)

  1. 一种调制与编码策略值的控制方法，包括：
    接收无人机传输的第一新传指示NDI信息，其中，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；
    在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，其中，N为正整数；
    根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
  2. 根据权利要求1所述的方法，其中，所述根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，包括以下至少之一：
    在所述第一误码率大于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第一判决误码率，在所述第一判决误码率高于第一阈值的情况下，降低所述调制与编码策略值；
    在所述第一误码率小于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第二判决误码率，在所述第二判决误码率低于第二阈值的情况下，提高所述调制与编码策略值。
  3. 根据权利要求1所述的方法，在所述接收无人机传输的第一新传指示NDI信息之前，还包括：
    对接收到的所述当前图像进行解析，得到第一解析结果，并向所述无人机传输所述第一解析结果，以使所述无人机在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；其中，所述第二NDI信息用于指示所述无人机向所述遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序；
    在所述遥控器接收到所述第二NDI信息和所述版本信息之后，所述遥控器根据所述第二NDI信息确定所述无人机传输所述当前图像的传输方式为重传，以及根据所述版本信息确定所述无人机传输所述当前图像的版本号和所述传输次序，对所述版本号和所述传输次序的所述当前图像进行解析，得到第二解析结果。
  4. 根据权利要求3所述的方法，在所述根据所述版本信息确定所述无人机传输所述当前图像的版本号和所述传输次序，对所述版本号和所述传输次序的 所述当前图像进行重传解析，得到第二解析结果之后，还包括：
    在所述传输次序指示所述无人机为第N+M次传输所述当前图像的情况下，所述遥控器根据所述第一解析结果和所述第二解析结果对所述当前图像进行合并解析，得到所述第一解析结果和所述第二解析结果的合并解析结果，其中，M为正整数。
  5. 根据权利要求3或4所述的方法，在所述遥控器接收无人机传输的第一新传指示NDI信息之前，还包括：
    在所述第二解析结果的解析结果正确的情况下，向所述无人机发送所述第二解析结果，以使所述无人机根据所述第二解析结果确定所述第一NDI信息。
  6. 一种调制与编码策略值的控制方法，包括：
    获取第一新传指示NDI信息，其中，所述第一NDI信息用于指示无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；
    向所述遥控器传输所述第一NDI信息，其中，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，其中，N为正整数；
    接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调整后的调制与编码策略值传输所述下一个图像。
  7. 根据权利要求6所述的方法，在向所述遥控器传输所述第一NDI信息之前，还包括：
    接收所述遥控器对所述当前图像所解析后得到的第一解析结果；
    在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；其中，所述第二NDI信息用于指示所述无人机向所述遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序。
  8. 一种调制与编码策略值的控制系统，包括：
    无人机，设置为向遥控器传输第一新传指示NDI信息，其中，所述第一NDI信息用于指示所述无人机向所述遥控器传输所述遥控器接收到的当前图像的下一个图像；
    所述遥控器，设置为接收所述无人机传输的所述第一新传指示NDI信息；
    所述遥控器，还设置为在根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，其中，N为正整数；
    所述遥控器，还设置为根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
  9. 根据权利要求8所述的系统，其中，所述遥控器，是设置为至少执行以下之一：
    在所述第一误码率大于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第一判决误码率，在所述第一判决误码率高于第一阈值的情况下，降低所述调制与编码策略值；
    在所述第一误码率小于所述第二误码率的情况下，确定所述调制与编码策略值的调整方式对应的第二判决误码率，在所述第二判决误码率低于第二阈值的情况下，提高所述调制与编码策略值。
  10. 根据权利要求8所述的系统，其中，所述遥控器，还设置为对接收到的所述当前图像进行解析，得到第一解析结果，并向所述无人机传输所述第一解析结果；
    所述无人机，还设置为在所述第一解析结果的解析结果错误的情况下，根据所述第一解析结果确定第二新传指示NDI信息和版本信息，以及向所述遥控器传输所述第二NDI信息和所述版本信息；其中，所述第二NDI信息用于指示所述无人机向所述遥控器重新传输所述当前图像；所述版本信息用于表示所述无人机传输所述当前图像的版本号和传输次序；
    所述遥控器，还设置为在接收到所述第二NDI信息和所述版本信息之后，根据所述第二NDI信息确定所述无人机传输所述当前图像的传输方式为重传，以及根据所述版本信息确定所述无人机传输所述当前图像的版本号和所述传输次序，对所述版本号和所述传输次序的所述当前图像进行解析，得到第二解析结果。
  11. 根据权利要求10所述的系统，其中，所述遥控器，还设置为在所述传输次序指示所述无人机为第N+M次传输所述当前图像的情况下，根据所述第一解析结果和所述第二解析结果对所述当前图像进行合并解析，得到所述第一解析结果和所述第二解析结果的合并解析结果，其中，M为正整数。
  12. 根据权利要求10或11所述的系统，其中，所述遥控器，还设置为在所述第二解析结果的解析结果正确的情况下，向所述无人机发送所述第二解析 结果；
    所述无人机，还设置为根据所述第二解析结果确定所述第一NDI信息。
  13. 一种调制与编码策略值的控制装置，应用于遥控器，包括：
    第一接收模块，设置为接收无人机传输的第一新传指示NDI信息，其中，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；
    第一处理模块，设置为在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，其中，N为正整数；
    第二处理模块，设置为根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，并将调整后的调制与编码策略值传输至所述无人机，以指示所述无人机根据所述调整后的调制与编码策略值传输所述下一个图像。
  14. 一种调制与编码策略值的控制装置，应用于无人机，包括：
    获取模块，设置为获取第一新传指示NDI信息，其中，所述第一NDI信息用于指示所述无人机向遥控器传输所述遥控器接收到的当前图像的下一个图像；
    处理模块，设置为向遥控器传输所述第一NDI信息，其中，所述第一NDI信息用于指示所述遥控器在所述遥控器根据所述第一NDI信息确定需要接收所述下一个图像的情况下，获取第N+1次传输所述下一个图像的第一误码率与第N次传输所述下一个图像的第二误码率的大小关系，并根据所述大小关系确定对所述无人机的调制与编码策略值的调整方式，其中，N为正整数；接收所述遥控器发送的调整后的调制与编码策略值，并根据所述调整后的调制与编码策略值传输所述下一个图像。
  15. 一种计算机可读的存储介质，存储有计算机程序，其中，所述计算机程序被设置为运行时执行所述权利要求1至7任一项中所述的方法。
  16. 一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行所述权利要求1至7任一项中所述的方法。
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