WO2021208094A1

WO2021208094A1 - Bandwidth switching method and device, unmanned aerial vehicle, and computer readable storage medium

Info

Publication number: WO2021208094A1
Application number: PCT/CN2020/085426
Authority: WO
Inventors: 孟凡淦; 尹小俊; 戴劲
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-17
Filing date: 2020-04-17
Publication date: 2021-10-21
Also published as: CN112771921A

Abstract

Disclosed are a bandwidth switching method and device, an unmanned aerial vehicle, and a computer readable storage medium. The method comprises: obtaining a first target interference power spectral density under the current bandwidth and a second target interference power spectral density under the remaining bandwidths (S101); determining a target bandwidth according to the first target interference power spectral density and the second target interference power spectral density (S102); and switching the current bandwidth to the target bandwidth (S103). The present application improves the interference resistance of a wireless link.

Description

Bandwidth switching method, device, drone and computer readable storage medium

Technical field

This application relates to the field of wireless communication technology, and in particular to a bandwidth switching method, device, drone, and computer-readable storage medium.

Background technique

At present, users can take high-definition pictures and high-definition videos through shooting equipment, such as drones and cameras, and the captured high-definition pictures and high-definition videos are stored on the shooting device. When the user needs to use the high-definition pictures and high-definition videos on the shooting device , It is necessary to download high-definition pictures and high-definition videos on the shooting device through the wireless link to the local device, but when downloading high-definition pictures or high-definition videos through the wireless link, the interference of external signals will affect the throughput of the wireless link, which in turn affects the high-definition The resolution or download rate of a picture or high-definition video. The maximum throughput of wireless links under different bandwidths is different. By switching the working bandwidth of the wireless link, the impact of external signal interference on the transmission of high-definition pictures and high-definition video can be reduced. Therefore, how to switch the work of the wireless link adaptively Bandwidth is a problem that needs to be solved urgently.

Summary of the invention

Based on this, the present application provides a bandwidth switching method, device, drone, and computer-readable storage medium, which are designed to adaptively switch the working bandwidth of the wireless link and improve the anti-interference performance of the wireless link.

In the first aspect, this application provides a bandwidth switching method, which is used to control the working bandwidth of a wireless link to switch between multiple bandwidths, including:

Acquire the first target interference power spectral density under the current bandwidth and the second target interference power spectral density under the remaining bandwidth of the wireless link, where the remaining bandwidth is the number of bandwidths other than the current bandwidth bandwidth;

Determine a target bandwidth from the remaining bandwidths according to the first target interference power spectral density and the second target interference power spectral density;

When it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, switching the current bandwidth of the wireless link to the target bandwidth.

In a second aspect, the present application also provides a bandwidth switching device, the bandwidth switching device is used to control the working bandwidth of the wireless link to switch between multiple bandwidths, and the bandwidth switching device includes a memory and a processor; The memory is used to store computer programs;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

In the third aspect, this application also provides an unmanned aerial vehicle, which includes a photographing device and any bandwidth switching device as provided in the specification of this application.

In a fourth aspect, the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the processor realizes the information provided in the specification of the present application. Any bandwidth switching method.

The embodiments of the application provide a bandwidth switching method, device, drone, and computer-readable storage medium, by acquiring the first target interference power spectral density of the wireless link under the current bandwidth and the second target under the remaining bandwidth Interference power spectrum density, and determine the target bandwidth from the remaining bandwidths according to the first target interference power spectrum density and the second target interference power spectrum density. When it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, Switching the current bandwidth of the wireless link to the target bandwidth can accurately switch the working bandwidth of the wireless link, improve the anti-interference performance of the wireless link, and ensure the transmission reliability of the wireless link.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of a scenario for implementing the bandwidth switching method provided by the present application;

2 is a schematic flowchart of steps of a bandwidth switching method provided by an embodiment of the present application;

Fig. 3 is a schematic flowchart of sub-steps of the bandwidth switching method in Fig. 2;

4 is a schematic flowchart of sub-steps of the bandwidth switching method in FIG. 2;

FIG. 5 is a schematic block diagram of the structure of a bandwidth switching device provided by an embodiment of the present application;

Fig. 6 is a schematic block diagram of the structure of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Based on the above problems, this application provides a bandwidth switching method, which is applied to shooting equipment, for example, cameras and movable platforms loaded with shooting devices, etc. The movable platforms include drones, movable robots, and pan-tilts. For vehicles, please refer to Fig. 1. Fig. 1 is a schematic diagram of a scenario for implementing the bandwidth switching method provided by the present application. As shown in Fig. 1, a wireless link is established between the control terminal 100 and the drone 200, and the drone 200 It includes a photographing device 201 through which pictures and videos can be taken, and the taken pictures and videos can be stored, and the pictures and/or videos stored in the drone 200 can be downloaded to the control terminal 100 through the wireless link. When downloading pictures and/or videos stored in the UAV 200 through a wireless link, based on the target interference power spectral density of the wireless link in each bandwidth and the data volume of the pictures and/or videos to be downloaded in the wireless link, Determine the target bandwidth, and switch the current bandwidth of the wireless link to the target bandwidth, so as to accurately switch the working bandwidth of the wireless link, reduce the interference of external interference signals on the wireless link, and ensure the transmission reliability of the wireless link.

Among them, the control terminal includes a remote control, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, etc., and the UAV 200 may be a rotary wing aircraft. In some cases, the drone 200 may be a multi-rotor aircraft that may include multiple rotors. The multiple rotors can rotate to generate lifting force for the drone 200. The rotor may be a propulsion unit, which allows the drone 200 to move freely in the air. The rotor can rotate at the same rate and/or can generate the same amount of lift or thrust. The rotor can rotate at different speeds at will, generating different amounts of lifting force or thrust, and/or allowing the drone 200 to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten or more rotors may be provided on the drone 200. These rotors can be arranged such that their rotation axes are parallel to each other. In some cases, the rotation axis of the rotors can be at any angle with respect to each other, which can affect the movement of the drone 200.

The drone 200 may have multiple rotors. The rotor may be connected to the main body of the drone 200, and the main body may include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors. The rotor may be connected to the body by one or more arms or extensions branching from the central part of the body. For example, one or more arms may extend radially from the central body of the drone 200, and may have a rotor at or near the end of the arm.

Please refer to FIG. 2, which is a schematic flowchart of steps of a bandwidth switching method provided by an embodiment of the present application. Specifically, as shown in FIG. 2, the bandwidth switching method includes step S101 to step S103.

S101. Obtain a first target interference power spectrum density of the wireless link in the current bandwidth and a second target interference power spectrum density of the wireless link in the remaining bandwidth.

Among them, the wireless link between the drone and the control terminal is a downlink wireless link, that is, the wireless link established when the control terminal downloads pictures and/or videos from the drone. The wireless link includes multiple bandwidths. For example, 10MHz bandwidth, 20MHz bandwidth, 40MHz bandwidth, etc., and the remaining bandwidths are bandwidths other than the current bandwidth among multiple bandwidths.

In some embodiments, the interference power spectral density of each channel of the wireless link under the current bandwidth is obtained, and the interference power spectral density of each channel of the wireless link under the current bandwidth is used to determine that the wireless link is under the current bandwidth. The first target interference power spectral density. Among them, the wireless link includes multiple channels, and the interference power spectrum density of each channel is different. The greater the interference power spectrum density of the channel, the stronger the interference signal of the channel, the lower the transmission reliability of the channel, and the interference power of the channel The smaller the spectral density, the weaker the interference signal of the channel and the stronger the transmission reliability of the channel. The first target interference power spectral density of the wireless link under the current bandwidth can be accurately determined by the interference power spectral density of each channel of the wireless link under the current bandwidth.

In some embodiments, the current Modulation and Coding Scheme (MCS) gear of the wireless link under the current bandwidth is acquired, and the wireless link is determined according to the current MCS gear of the wireless link under the current bandwidth The signal energy attenuation value under the current bandwidth; the interference power spectral density corresponding to the current bandwidth is determined according to the interference power spectral density of each channel under the current bandwidth, that is, the minimum interference power in the interference power spectral density of each channel under the current bandwidth The spectral density is used as the interference power spectral density corresponding to the current bandwidth; the first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density corresponding to the current bandwidth and the signal energy attenuation value. By compensating for the minimum interference power spectral density in the interference power spectral density of each channel under the current bandwidth based on the signal energy attenuation value, the first target interference power spectral density of the wireless link under the current bandwidth can be accurately determined. It is convenient for the subsequent accurate bandwidth switching judgment.

Among them, by querying the correspondence table of MCS gear, bandwidth and signal energy attenuation value, the signal energy attenuation value of the wireless link under the current bandwidth can be obtained. The correspondence relationship table of MCS gear, bandwidth and signal energy attenuation value is Through link simulation, the greater the signal energy attenuation value, the greater the positive compensation for interference power spectral density, and the smaller the signal energy attenuation value, the smaller the forward compensation for interference power spectral density.

Similarly, in the same way, the second target interference power spectral density of the wireless link under the remaining bandwidth can be obtained, specifically, the interference power spectral density of each channel of the wireless link under the remaining bandwidth can be obtained; according to the wireless link The interference power spectral density of each channel under the remaining bandwidth determines the second target interference power spectral density of the wireless link under the remaining bandwidth. The second target interference power spectrum density of the wireless link in the remaining bandwidth can be accurately determined by the interference power spectrum density of each channel of the wireless link in the remaining bandwidth.

In some embodiments, the current MCS gear of the wireless link in the remaining bandwidth is obtained, and the signal energy attenuation value of the wireless link in the remaining bandwidth is determined according to the current MCS gear of the wireless link in the remaining bandwidth; The interference power spectrum density of each channel under the current bandwidth determines the interference power spectrum density corresponding to the remaining bandwidth, that is, the smallest interference power spectrum density in the interference power spectrum density of each channel under the remaining bandwidth is used as the interference power spectrum corresponding to the remaining bandwidth Density: Determine the second target interference power spectrum density of the wireless link in the remaining bandwidth according to the signal energy attenuation value of the wireless link in the remaining bandwidth and the interference power spectrum density corresponding to the remaining bandwidth.

For example, if the current bandwidth of the wireless link is 10MHz, and the remaining bandwidth of the wireless link includes 20MHz and 40MHz, the target interference power spectral density of the 10MHz bandwidth and the target interference power spectral density of the 20MHz bandwidth are obtained; if the current bandwidth of the wireless link 20MHz, the remaining bandwidth of the wireless link includes 10MHz and 40MHz, then obtain the target interference power spectral density of the 20MHz bandwidth, the target interference power spectral density of the 10MHz bandwidth, and the target interference power spectral density of the 40MHz bandwidth; if the current bandwidth of the wireless link If it is 40MHz, and the remaining bandwidth of the wireless link includes 10MHz and 20MHz, the target interference power spectral density of the 40MHz bandwidth and the target interference power spectral density of the 20MHz bandwidth are obtained.

S102. Determine a target bandwidth from the remaining bandwidths according to the first target interference power spectrum density and the second target interference power spectrum density.

Wherein, the target interference power spectrum density of the target bandwidth is smaller than the first target interference power spectrum density, that is, the target interference power spectrum density of the target bandwidth is smaller than the target interference power spectrum density of the current bandwidth.

After determining the first target interference power spectrum density and the second target interference power spectrum density, when the first target interference power spectrum density is less than the second target interference power spectrum density, there is no need to switch the working bandwidth of the wireless link, and no The target bandwidth is determined from the remaining bandwidths; when the first target interference power spectrum density is greater than the second target interference power spectrum density, the target bandwidth needs to be determined from the remaining bandwidths. Wherein, the ratio of the target bandwidth to the current bandwidth is equal to the first preset ratio or the second preset ratio, the first preset ratio is 0.5, and the second preset ratio is 2.

For example, the current bandwidth of the wireless link is 10MHz, the remaining bandwidths of the wireless link include 20MHz and 40MHz, and the target interference power spectral density of the 10MHz bandwidth is greater than the target interference power spectral density of the 20MHz bandwidth, then the 20MHz bandwidth is used as the wireless link Target bandwidth; for another example, the current bandwidth of the wireless link is 40MHz, the remaining bandwidth of the wireless link includes 10MHz and 20MHz, and the target interference power spectral density of the 40MHz bandwidth is greater than the target interference power spectral density of the 20MHz bandwidth, then the 20MHz bandwidth is taken as The target bandwidth of the wireless link.

For another example, the current bandwidth of the wireless link is 20MHz, the remaining bandwidths of the wireless link include 10MHz and 40MHz, and the target interference power spectral density of the 40MHz bandwidth is less than the target interference power spectral density of the 20MHz bandwidth, and the target interference power spectral density of the 10MHz bandwidth If the target interference power spectral density is greater than 20MHz bandwidth, the 40MHz bandwidth is used as the target bandwidth of the wireless link, and the target interference power spectral density of 40MHz bandwidth is greater than the target interference power spectral density of 20MHz bandwidth, and the target interference power spectral density of 10MHz bandwidth is less than For the target interference power spectral density of 20MHz bandwidth, the 10MHz bandwidth is used as the target bandwidth of the wireless link, while the target interference power spectral density of 40MHz bandwidth is less than the target interference power spectral density of 20MHz bandwidth, and the target interference power spectral density of 10MHz bandwidth is less than 20MHz. For the target interference power spectral density of the bandwidth, the 10MHz bandwidth or 40MHz bandwidth is used as the target bandwidth of the wireless link.

S103: When it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, switch the current bandwidth of the wireless link to the target bandwidth.

After determining the target bandwidth, it is necessary to further determine whether the wireless link meets the bandwidth switching condition for switching from the current bandwidth to the target bandwidth. When it is determined that the wireless link meets the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, the wireless link The current bandwidth of the wireless link is switched to the target bandwidth, and when it is determined that the wireless link does not meet the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, the current bandwidth of the wireless link is not switched. Among them, the bandwidth switching conditions between different bandwidths are different. For example, the bandwidth switching condition for switching from 10MHz bandwidth to 20MHz bandwidth, the bandwidth condition for switching from 20MHz bandwidth to 10MHz bandwidth, the bandwidth switching condition for switching from 20MHz bandwidth to 40MHz bandwidth, and the bandwidth switching condition for switching from 20MHz bandwidth to 40MHz bandwidth, and the bandwidth switching condition for switching from 20MHz bandwidth to 40MHz bandwidth are The bandwidth switching conditions of the 20MHz bandwidth are different.

In an embodiment, as shown in FIG. 3, step S103 specifically includes: sub-steps S1031a to S1032a.

S1031a: When it is determined that the current bandwidth and the target bandwidth are both smaller than the preset bandwidth, obtain the current throughput of the current bandwidth and the limit throughput of the target bandwidth.

When it is determined that the current bandwidth and the target bandwidth are both less than the preset bandwidth, the bandwidth switching condition for switching the current bandwidth to the target bandwidth is related to the current throughput of the current bandwidth and the limit throughput of the target bandwidth. Therefore, the current throughput of the current bandwidth and The limit throughput of the target bandwidth. Among them, the limit throughput includes the maximum throughput and the minimum throughput. The limit throughput of each bandwidth can be calculated and determined in advance or in real time. The preset bandwidth can be set based on actual conditions, and this application does not specifically limit this For example, the preset bandwidth is 40MHz bandwidth.

For example, the preset bandwidth is 40MHz bandwidth, the current bandwidth is 10MHz, and the target bandwidth is 20MHz. Through comparison, it can be seen that the current bandwidth and target bandwidth are both smaller than the preset bandwidth. Therefore, the current throughput of 10MHz bandwidth and the limit throughput of 20MHz bandwidth are obtained. For example, if the current bandwidth is 20MHz and the target bandwidth is 10MHz, it can be seen from comparison that both the current bandwidth and the target bandwidth are less than the preset bandwidth, so the current throughput of the 20MHz bandwidth and the limit throughput of the 10MHz bandwidth are obtained.

In some embodiments, the method for determining the limit throughput of each bandwidth is specifically: obtaining the limit MCS gear of each bandwidth and the preset downlink subframe proportion; according to the limit MCS gear of each bandwidth, determining each The limit transmission block size TBS of the bandwidth, and the limit throughput of each bandwidth is determined according to the limit transmission block size TBS of each bandwidth and the preset downlink subframe ratio. Among them, the limit MCS gear includes the maximum MCS gear and the minimum MCS gear, and the limit TBS includes the maximum TBS and the minimum TBS. The relationship between the MCS gear and the TBS is determined through link simulation, and the downlink subframe ratio is preset It can be set based on actual conditions, which is not specifically limited in this application, for example, the preset downlink subframe ratio is 0.8.

S1032a: According to the current throughput and the limit throughput, determine whether the wireless link satisfies a bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

Specifically, when it is determined that the current bandwidth is greater than the target bandwidth, and the current throughput is less than the maximum throughput of the target bandwidth, it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth; when it is determined that the current bandwidth is greater than the target bandwidth, and When the current throughput is greater than or equal to the maximum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition for switching from the current bandwidth to the target bandwidth. By comparing the current throughput of the current bandwidth with the limit throughput of the target bandwidth, it is possible to prevent a sudden change in the throughput of the wireless link after the bandwidth of the wireless link is switched, and to improve the transmission reliability of the wireless link.

For example, the current bandwidth is 20MHz bandwidth, and the target bandwidth is 10MHz bandwidth. When the current throughput of 20MHz bandwidth is less than the maximum throughput of 10MHz bandwidth, it is determined that the wireless link meets the bandwidth switching conditions for switching from 20MHz bandwidth to 10MHz bandwidth; in 20MHz bandwidth When the current throughput is greater than or equal to the maximum throughput of the 10MHz bandwidth, it is determined that the wireless link does not meet the bandwidth switching condition for switching from the 20MHz bandwidth to the 10MHz bandwidth.

Specifically, when it is determined that the current bandwidth is less than the target bandwidth and the current throughput is greater than the minimum throughput of the target bandwidth, it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth; when it is determined that the current bandwidth is less than the target bandwidth, and When the current throughput is less than or equal to the minimum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

For example, the current bandwidth is 10MHz bandwidth, and the target bandwidth is 20MHz bandwidth. When the current throughput of 10MHz bandwidth is greater than the minimum throughput of 20MHz bandwidth, it is determined that the wireless link meets the bandwidth switching conditions for switching from 10MHz bandwidth to 20MHz bandwidth; in 10MHz bandwidth When the current throughput of is less than or equal to the minimum throughput of the 20MHz bandwidth, it is determined that the wireless link does not meet the bandwidth switching condition for switching from the 10MHz bandwidth to the 20MHz bandwidth.

In an embodiment, as shown in FIG. 4, step S103 specifically includes: sub-steps S1031b to S1032b.

S1031b: When it is determined that the current bandwidth or the target bandwidth is greater than or equal to a preset bandwidth, obtain the MCS scheduling information of the media access control layer MAC.

Among them, the medium access control layer (Medium Access Control, MAC) is mainly responsible for the channel reception in the wireless link and the scheduling of the MCS gear of the current bandwidth, and generates the MCS scheduling information. The MCS scheduling information includes the MCS scheduling array, and the MCS scheduling array is First-in-first-out array, the MCS scheduling array includes a preset number of scheduled MCS stalls. Each time the media access control layer MAC schedules the MCS stalls of the current bandwidth, the MCS scheduling array is updated based on the scheduled MCS stalls.

When it is determined that the current bandwidth or the target bandwidth is greater than or equal to the preset bandwidth, the bandwidth switching condition for switching the current bandwidth to the target bandwidth is related to the MCS scheduling information of the media access control layer MAC, so the MCS scheduling information of the media access control layer MAC is obtained. Through the MCS scheduling information, the demand for the amount of service data of the wireless link can be known, and the demand for the amount of service data can be used to determine whether the wireless link meets the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

In some embodiments, the wireless link between the drone and the control terminal uses the ISM frequency band with 2.4 GHz and 5.8 GHz as the center frequency, and the total available bandwidth of the ISM frequency band corresponding to 2.4 GHz and 5.8 GHz is 218 MHz. Taking multiple bandwidths including 10MHz bandwidth, 20MHz bandwidth, and 40MHz bandwidth as an example, when the working bandwidth of the wireless link is switched to 40MHz, 218MHz can only be divided into 5 channels, which is likely to cause multiple channels when multiple drones are running at the same time. There is mutual interference between drones. Therefore, the 40MHz bandwidth needs to be activated according to the demand of the business data volume. When the demand for the business data volume is not large, the 40MHz bandwidth needs to be switched to the 20MHz bandwidth or the 10MHz bandwidth. That is to say, determining whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth based on the demand for the amount of service data can further improve the anti-interference performance of the wireless link.

S1032b. Determine, according to the MCS scheduling information, whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

Specifically, when it is determined that the current bandwidth is less than the target bandwidth, the full scheduling rate of the wireless link is determined according to the MCS scheduling array and the maximum MCS gear of the current bandwidth; when it is determined that the full scheduling rate is greater than or equal to the preset full scheduling rate, the wireless link is determined The link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth; when it is determined that the full scheduling rate is less than the preset full scheduling rate, it is determined that the wireless link does not meet the bandwidth switching condition for switching from the current bandwidth to the target bandwidth. Among them, the preset full scheduling rate can be set according to actual conditions, which is not specifically limited in this application, for example, the preset full scheduling rate is 0.8. The full scheduling rate of the wireless link can accurately determine whether the wireless link meets the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

Among them, the higher the quality of the wireless link, the greater the signal-to-noise ratio, and the greater the value of the maximum MCS gear. When the maximum MCS gear is used to transmit data, the packet error rate is below 10%. Specifically, according to the wireless link In the NACK and ACK feedback of the receiving end (control terminal), determine the maximum MCS gear. For example, NACK indicates that the receiving end (control terminal) cannot demodulate, demodulates the error or does not receive downlink data, and ACK indicates the receiving end (control terminal) The downlink data is successfully demodulated, and the MCS gear that satisfies the packet error rate of less than 10% can be adaptively calculated through statistics, that is, the maximum MCS gear.

In some embodiments, the method of determining the full scheduling rate of the wireless link according to the MCS scheduling array and the maximum MCS gear of the current bandwidth is specifically: counting the MCS gears in the MCS scheduling array equal to the maximum MCS gear of the current bandwidth. The number, the target number is obtained; the full scheduling rate of the wireless link is determined according to the preset number and the target number. Among them, the preset number can be set based on the actual situation, and this application does not specifically limit this. For example, the preset number is 500, and the number of MCS gears in the MCS scheduling array equal to the maximum MCS gear of the current bandwidth is 400 , The full scheduling rate of the wireless link is 400 divided by 500 equals 0.8.

For example, if the current bandwidth is 20MHz bandwidth and the target bandwidth is 40MHz bandwidth, the MCS scheduling array of 20MHz bandwidth is obtained. The MCS scheduling array includes 500 scheduled MCS gears, and the MCS gears in the MCS scheduling array are equal to the current bandwidth The maximum number of MCS gears is 450, then the full scheduling rate of the wireless link under the 20MHz bandwidth is 450 divided by 500 equals 0.9, which is greater than the preset full scheduling rate 0.8. Therefore, it can be determined that the wireless link meets the requirement of switching from 20MHz bandwidth to Bandwidth switching conditions of 40MHz bandwidth.

In some embodiments, when it is determined that the full scheduling rate is greater than or equal to the preset threshold, the interference power spectrum density of each channel of the wireless link under the current bandwidth is further obtained; The interference power spectral density of the channel is determined whether there are two consecutive channels whose interference power spectral densities are both smaller than the first preset threshold; when it is determined that there are two consecutive channels whose interference power spectral densities are both smaller than the first preset threshold, and If the difference between the interference power spectral densities of the two consecutive channels is less than or equal to the second preset threshold, it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth. When it is determined that the full scheduling rate is greater than or equal to the preset threshold, the interference power spectrum density of each channel of the wireless link under the current bandwidth can be used to accurately determine whether the wireless link meets the requirement of switching from the current bandwidth to the target bandwidth. Bandwidth switching conditions.

In some embodiments, when it is determined that there is no interference power spectrum density of two consecutive channels that are both less than the first preset threshold, it is determined that the wireless link does not meet the bandwidth switching condition for switching from the current bandwidth to the target bandwidth; or when it is determined When the interference power spectral densities of two consecutive channels are less than the first preset threshold, and the difference between the interference power spectral densities of the two consecutive channels is greater than the second preset threshold, it is determined that the wireless link does not meet the requirements of the current bandwidth Switch to the bandwidth switching condition of the target bandwidth.

In some embodiments, the MCS scheduling information includes the first MCS scheduling array and the second MCS scheduling array respectively corresponding to the continuous first channel and the second channel under the current bandwidth. Both the first MCS scheduling array and the second MCS scheduling array are The method for determining whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth according to the MCS scheduling information includes a preset number of scheduled MCS gear positions: when it is determined that the current bandwidth is greater than the target bandwidth, obtain The maximum MCS gear of the first channel and the maximum MCS gear of the second channel; determine according to the first MCS scheduling array, the second MCS scheduling array, the maximum MCS gear of the first channel, and the maximum MCS gear of the second channel Bandwidth switching index; when it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, it is determined that the wireless link meets the bandwidth switching conditions for switching from the current bandwidth to the target bandwidth; when the bandwidth switching index is determined to be less than the preset bandwidth switching index, it is determined The wireless link does not meet the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

Among them, the larger the bandwidth switching index, the smaller the probability that the wireless link meets the bandwidth switching condition of switching from the current bandwidth to the target bandwidth, and the larger the bandwidth switching index, the wireless link meets the requirement of switching from the current bandwidth to the target bandwidth. The lower the probability of the bandwidth switching condition, the preset bandwidth switching index can be set based on actual conditions, which is not specifically limited in this application, for example, the preset bandwidth switching index is 0.8.

For example, if the current bandwidth is 40MHz bandwidth and the target bandwidth is 20MHz bandwidth, then obtain the maximum MCS gear of the first channel and the maximum MCS gear of the second channel of continuous 40MHz bandwidth, through the first MCS scheduling array and the second MCS scheduling The bandwidth switching index determined by the array, the maximum MCS gear of the first channel and the maximum MCS gear of the second channel is 0.85, and the preset bandwidth switching index is 0.8, so it can be determined that the wireless link satisfies the switching from 40MHz bandwidth to 20MHz bandwidth The bandwidth switching conditions.

In some embodiments, according to the first MCS scheduling array, the second MCS scheduling array, the maximum MCS gear of the first channel, and the maximum MCS gear of the second channel, the method of determining the bandwidth switching index is specifically: counting the first MCS The number of MCS gears in the scheduling array that is less than or equal to one-half of the largest MCS gear of the first channel to obtain the first number; statistics of the MCS gears in the second MCS scheduling array are less than or equal to the largest MCS gear of the second channel One-half of the number of bits to obtain the second number; determine the bandwidth switching index according to the first number, the second number, and the preset number, that is, determine the percentage of the first number occupies the preset number to obtain the first bandwidth switching index, And determine the percentage that the first number occupies the preset number to obtain the second bandwidth switching index, and then calculate the average value of the first bandwidth switching index and the second bandwidth switching index, and calculate the difference between the first bandwidth switching index and the second bandwidth switching index The average value is used as the bandwidth switching index.

In some embodiments, when it is determined that the first bandwidth switching index and the second bandwidth switching index are both greater than or equal to the preset bandwidth switching index, it is determined that the wireless link meets the bandwidth switching condition for switching from the current bandwidth to the target bandwidth; When the first bandwidth switching index and/or the second bandwidth switching index are less than the preset bandwidth switching index, it is determined that the wireless link does not satisfy the bandwidth switching condition for switching from the current bandwidth to the target bandwidth. Through the first bandwidth switching index and the second bandwidth switching index, it can be accurately determined whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

In some embodiments, when it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth are obtained; the current throughput of the current bandwidth and the maximum MCS of the target bandwidth are obtained. The gear position determines whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth. When it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth can further accurately determine whether the wireless link meets the requirement of switching from the current bandwidth to the target bandwidth. Bandwidth switching conditions.

In some embodiments, according to the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth, the method of determining whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth is specifically: according to the maximum MCS of the target bandwidth The gear position determines the maximum throughput of the target bandwidth; when it is determined that the maximum throughput of the target bandwidth is greater than or equal to the current throughput of the current bandwidth, it is determined that the wireless link meets the bandwidth switching condition of switching from the current bandwidth to the target bandwidth; when the target is determined When the maximum throughput of the bandwidth is less than the current throughput of the current bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition for switching from the current bandwidth to the target bandwidth. Among them, the relationship between the maximum MCS gear, bandwidth, and maximum throughput can be obtained through link simulation, which is not specifically limited in this application.

The bandwidth switching method provided by the foregoing embodiment obtains the first target interference power spectral density under the current bandwidth of the wireless link and the second target interference power spectral density under the remaining bandwidth, and according to the sum of the first target interference power spectral density The second target interference power spectrum density is to determine the target bandwidth from the remaining bandwidths. When it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, the current bandwidth of the wireless link is switched to the target bandwidth, which can accurately Switch the working bandwidth of the wireless link, improve the anti-interference of the wireless link, and ensure the transmission reliability of the wireless link.

Please refer to FIG. 5, which is a schematic block diagram of the structure of a bandwidth switching apparatus provided by an embodiment of the present application. As shown in FIG. 5, the bandwidth switching device 300 includes a processor 301 and a memory 302, and the processor 301 and the memory 302 are connected by a bus 303, which is, for example, an I2C (Inter-integrated Circuit) bus. The bandwidth switching device 300 is used to control the operating bandwidth of the wireless link to switch between multiple bandwidths, and the multiple bandwidths include 10 MHz bandwidth, 20 MHz bandwidth, and 40 MHz bandwidth.

Specifically, the processor 301 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 301 is configured to run a computer program stored in the memory 302, and implement the following steps when the computer program is executed:

Optionally, when the processor implements the acquisition of the first target interference power spectral density of the wireless link under the current bandwidth, it is used to implement:

Acquiring the interference power spectral density of each channel of the wireless link under the current bandwidth;

The first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density of each channel under the current bandwidth.

Optionally, when the processor is configured to determine the first target interference power spectral density of the wireless link under the current bandwidth according to the interference power spectral density of each channel under the current bandwidth, the processor is configured to implement:

Acquiring the current modulation and demodulation strategy MCS gear under the current bandwidth, and determining the signal energy attenuation value under the current bandwidth according to the current MCS gear under the current bandwidth;

Determine the interference power spectral density corresponding to the current bandwidth according to the interference power spectral density of each channel under the current bandwidth;

The first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density corresponding to the current bandwidth and the signal energy attenuation value.

Optionally, when the processor determines the interference power spectrum density corresponding to the current bandwidth according to the interference power spectrum density of each channel under the current bandwidth, it is used to implement:

The minimum interference power spectrum density in the interference power spectrum density of each channel under the current bandwidth is used as the interference power spectrum density corresponding to the current bandwidth.

Optionally, the target interference power spectral density of the target bandwidth is less than the first target interference power spectral density.

Optionally, the ratio of the target bandwidth to the current bandwidth is equal to a first preset ratio or a second preset ratio.

Optionally, the processor is further configured to implement the following steps:

When it is determined that the current bandwidth and the target bandwidth are both smaller than the preset bandwidth, acquiring the current throughput of the current bandwidth and the limit throughput of the target bandwidth;

According to the current throughput and the limit throughput, it is determined whether the wireless link satisfies a bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

Optionally, the limit throughput includes any one of a maximum throughput and a minimum throughput; the processor realizes that according to the current throughput and the limit throughput, it is possible to determine whether the wireless link satisfies the When the current bandwidth is switched to the bandwidth switching condition of the target bandwidth, it is used to realize:

When it is determined that the current bandwidth is greater than the target bandwidth and the current throughput is less than the maximum throughput of the target bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the current bandwidth is greater than the target bandwidth, and the current throughput is greater than or equal to the maximum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.

When it is determined that the current bandwidth is less than the target bandwidth and the current throughput is greater than the minimum throughput of the target bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the current bandwidth is less than the target bandwidth, and the current throughput is less than or equal to the minimum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.

When it is determined that the current bandwidth or the target bandwidth is greater than or equal to the preset bandwidth, acquiring the MCS scheduling information of the MAC of the media access control layer;

According to the MCS scheduling information, it is determined whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

Optionally, the MCS scheduling information includes an MCS scheduling array, and the MCS scheduling array includes a preset number of scheduled MCS gears; the processor realizes that according to the MCS scheduling information, it is possible to determine whether the wireless link meets the requirements. When the current bandwidth is switched to the bandwidth switching condition of the target bandwidth, it is used to realize:

When it is determined that the current bandwidth is less than the target bandwidth, determine the full scheduling rate of the wireless link according to the MCS scheduling array and the maximum MCS gear of the current bandwidth;

When it is determined that the full scheduling rate is greater than or equal to the preset full scheduling rate, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the full scheduling rate is less than the preset full scheduling rate, it is determined that the wireless link does not satisfy the bandwidth switching condition.

Optionally, when the processor realizes the determination of the full scheduling rate of the wireless link according to the MCS scheduling array and the maximum MCS gear of the current bandwidth, it is used to realize:

Count the number of MCS gears in the MCS scheduling array equal to the maximum MCS gears of the current bandwidth to obtain the target number;

Determine the full scheduling rate of the wireless link according to the preset number and the target number.

When it is determined that the full scheduling rate is greater than or equal to a preset threshold, acquiring the interference power spectral density of each channel of the wireless link under the current bandwidth;

Determine, according to the interference power spectrum density of each channel of the wireless link under the current bandwidth, whether there are two consecutive channels whose interference power spectrum density is both less than a first preset threshold;

When it is determined that the interference power spectral densities of two consecutive channels are less than the first preset threshold, and the difference between the interference power spectral densities of the two consecutive channels is less than or equal to the second preset threshold, the wireless link is determined The path meets the bandwidth switching condition.

When it is determined that there are no interference power spectral densities of two consecutive channels that are both less than the first preset threshold, it is determined that the wireless link does not meet the bandwidth switching condition; or

When it is determined that the interference power spectral densities of two consecutive channels are both smaller than the first preset threshold, and the difference between the interference power spectral densities of the two consecutive channels is greater than the second preset threshold, it is determined that the wireless link is not Meet the bandwidth switching condition.

Optionally, the MCS scheduling information includes a first MCS scheduling array and a second MCS scheduling array respectively corresponding to the continuous first channel and the second channel under the current bandwidth, the first MCS scheduling array and the second MCS scheduling array The MCS scheduling arrays each include a preset number of scheduled MCS gear positions; the processor can determine whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth according to the MCS scheduling information When used to achieve:

When it is determined that the current bandwidth is greater than the target bandwidth, acquiring the maximum MCS gear of the first channel and the maximum MCS gear of the second channel;

Determine the bandwidth switching index according to the first MCS scheduling array, the second MCS scheduling array, the maximum MCS gear of the first channel, and the maximum MCS gear of the second channel;

When it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the bandwidth switching index is less than the preset bandwidth switching index, it is determined that the wireless link does not satisfy the bandwidth switching condition.

Optionally, the processor is configured to determine the bandwidth switching index according to the first MCS scheduling array, the second MCS scheduling array, the maximum MCS gear of the first channel, and the maximum MCS gear of the second channel. accomplish:

Counting the number of MCS gears in the first MCS scheduling array that is less than or equal to one-half of the maximum MCS gear of the first channel to obtain the first number;

Counting the number of MCS gears in the second MCS scheduling array that is less than or equal to one-half of the maximum MCS gear of the second channel to obtain a second number;

The bandwidth switching index is determined according to the first number, the second number, and the preset number.

When it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, acquiring the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth;

According to the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth, it is determined whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.

Optionally, the processor determines whether the wireless link satisfies the bandwidth for switching from the current bandwidth to the target bandwidth according to the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth. When switching conditions, it is used to achieve:

Determine the maximum throughput of the target bandwidth according to the maximum MCS gear of the target bandwidth;

When it is determined that the maximum throughput of the target bandwidth is greater than or equal to the current throughput of the current bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the maximum throughput of the target bandwidth is less than the current throughput of the current bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.

It should be noted that those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the bandwidth switching device described above can refer to the corresponding process in the foregoing bandwidth switching method embodiment. Go into details again.

Please refer to FIG. 6, which is a schematic block diagram of the structure of an unmanned aerial vehicle according to an embodiment of the present application.

As shown in FIG. 6, the drone 400 includes a camera 401 and a bandwidth switching device 402, and the bandwidth switching device 402 can implement any bandwidth switching method as provided in the specification of this application.

The drone 400 may be a rotary wing aircraft. In some cases, the drone 400 may be a multi-rotor aircraft that may include multiple rotors. The multiple rotors can rotate to generate lifting force for the drone 400. The rotor may be a propulsion unit, which allows the drone 400 to move freely in the air. The rotor can rotate at the same rate and/or can generate the same amount of lift or thrust. The rotor can rotate at different speeds at will, generating different amounts of lifting force or thrust, and/or allowing the drone 400 to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten or more rotors may be provided on the drone 400. These rotors can be arranged such that their rotation axes are parallel to each other. In some cases, the rotation axis of the rotors may be at any angle with respect to each other, which may affect the movement of the drone 400.

The drone 400 may have multiple rotors. The rotor may be connected to the body of the drone 400, and the body may include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors. The rotor may be connected to the body by one or more arms or extensions branching from the central part of the body. For example, one or more arms may extend radially from the central body of the drone 400, and may have a rotor at or near the end of the arm.

It should be noted that those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working process of the drone described above can refer to the corresponding process in the foregoing bandwidth switching method embodiment. Go into details again.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation Example provides the steps of the bandwidth switching method.

The computer-readable storage medium may be the internal storage unit of the drone described in any of the foregoing embodiments, such as the hard disk or memory of the drone. The computer-readable storage medium may also be an external storage device of the drone, such as a plug-in hard disk equipped on the drone, a smart memory card (Smart Media Card, SMC), or a secure digital (Secure Digital, SD) card, flash card (Flash Card), etc.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A bandwidth switching method, characterized in that the method is used to control the working bandwidth of a wireless link to switch between multiple bandwidths, including:

Acquire the first target interference power spectral density under the current bandwidth and the second target interference power spectral density under the remaining bandwidth of the wireless link, where the remaining bandwidth is the number of bandwidths other than the current bandwidth bandwidth;

Determine a target bandwidth from the remaining bandwidths according to the first target interference power spectral density and the second target interference power spectral density;

When it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, switching the current bandwidth of the wireless link to the target bandwidth.
The bandwidth switching method according to claim 1, wherein the obtaining the first target interference power spectral density of the wireless link under the current bandwidth comprises:

Acquiring the interference power spectral density of each channel of the wireless link under the current bandwidth;

The first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density of each channel under the current bandwidth.
The bandwidth switching method according to claim 2, wherein the first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density of each channel under the current bandwidth, include:

Acquiring the current modulation and demodulation strategy MCS gear under the current bandwidth, and determining the signal energy attenuation value under the current bandwidth according to the current MCS gear under the current bandwidth;

Determine the interference power spectral density corresponding to the current bandwidth according to the interference power spectral density of each channel under the current bandwidth;

The first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density corresponding to the current bandwidth and the signal energy attenuation value.
The bandwidth switching method according to claim 3, wherein the determining the interference power spectrum density corresponding to the current bandwidth according to the interference power spectrum density of each channel under the current bandwidth comprises:

The minimum interference power spectrum density in the interference power spectrum density of each channel under the current bandwidth is used as the interference power spectrum density corresponding to the current bandwidth.
The bandwidth switching method according to any one of claims 1 to 4, wherein the target interference power spectrum density of the target bandwidth is smaller than the first target interference power spectrum density.
The bandwidth switching method according to claim 5, wherein the ratio of the target bandwidth to the current bandwidth is equal to a first preset ratio or a second preset ratio.
The bandwidth switching method according to any one of claims 1 to 4, wherein the method further comprises:

When it is determined that the current bandwidth and the target bandwidth are both smaller than the preset bandwidth, acquiring the current throughput of the current bandwidth and the limit throughput of the target bandwidth;

According to the current throughput and the limit throughput, it is determined whether the wireless link satisfies a bandwidth switching condition for switching from the current bandwidth to the target bandwidth.
The bandwidth switching method according to claim 7, wherein the limit throughput includes any one of a maximum throughput and a minimum throughput; the determination is based on the current throughput and the limit throughput Whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth includes:

When it is determined that the current bandwidth is greater than the target bandwidth and the current throughput is less than the maximum throughput of the target bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the current bandwidth is greater than the target bandwidth, and the current throughput is greater than or equal to the maximum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching method according to claim 8, wherein the method further comprises:

When it is determined that the current bandwidth is less than the target bandwidth and the current throughput is greater than the minimum throughput of the target bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the current bandwidth is less than the target bandwidth, and the current throughput is less than or equal to the minimum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching method according to claim 7, wherein the method further comprises:

When it is determined that the current bandwidth or the target bandwidth is greater than or equal to the preset bandwidth, acquiring the MCS scheduling information of the MAC of the media access control layer;

Determine, according to the MCS scheduling information, whether the wireless link satisfies a bandwidth switching condition for switching from the current bandwidth to the target bandwidth.
The bandwidth switching method according to claim 10, wherein the MCS scheduling information includes an MCS scheduling array, and the MCS scheduling array includes a preset number of scheduled MCS gear positions; and the scheduling information is based on the MCS scheduling information. Determining whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth includes:

When it is determined that the current bandwidth is less than the target bandwidth, determine the full scheduling rate of the wireless link according to the MCS scheduling array and the maximum MCS gear of the current bandwidth;

When it is determined that the full scheduling rate is greater than or equal to the preset full scheduling rate, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the full scheduling rate is less than the preset full scheduling rate, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching method according to claim 11, wherein the determining the full scheduling rate of the wireless link according to the MCS scheduling array and the maximum MCS gear of the current bandwidth comprises:

Count the number of MCS gears in the MCS scheduling array equal to the maximum MCS gears of the current bandwidth to obtain the target number;

Determine the full scheduling rate of the wireless link according to the preset number and the target number.
The bandwidth switching method according to claim 11, wherein the method further comprises:

When it is determined that the full scheduling rate is greater than or equal to a preset threshold, acquiring the interference power spectral density of each channel of the wireless link under the current bandwidth;

Determine, according to the interference power spectrum density of each channel of the wireless link under the current bandwidth, whether there are two consecutive channels whose interference power spectrum density is both less than a first preset threshold;

When it is determined that the interference power spectral densities of two consecutive channels are less than the first preset threshold, and the difference between the interference power spectral densities of the two consecutive channels is less than or equal to the second preset threshold, the wireless link is determined The path meets the bandwidth switching condition.
The bandwidth switching method according to claim 13, wherein the method further comprises:

When it is determined that there are no interference power spectral densities of two consecutive channels that are both less than the first preset threshold, it is determined that the wireless link does not meet the bandwidth switching condition; or

When it is determined that the interference power spectral densities of two consecutive channels are both smaller than the first preset threshold, and the difference between the interference power spectral densities of the two consecutive channels is greater than the second preset threshold, it is determined that the wireless link is not Meet the bandwidth switching condition.
The bandwidth switching method according to claim 10, wherein the MCS scheduling information includes a first MCS scheduling array and a second MCS scheduling array corresponding to the continuous first channel and the second channel under the current bandwidth, respectively , The first MCS scheduling array and the second MCS scheduling array both include a preset number of scheduled MCS gears; the determining according to the MCS scheduling information whether the wireless link satisfies switching from the current bandwidth to The bandwidth switching condition of the target bandwidth includes:

When it is determined that the current bandwidth is greater than the target bandwidth, acquiring the maximum MCS gear of the first channel and the maximum MCS gear of the second channel;

Determine the bandwidth switching index according to the first MCS scheduling array, the second MCS scheduling array, the maximum MCS gear of the first channel, and the maximum MCS gear of the second channel;

When it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the bandwidth switching index is less than the preset bandwidth switching index, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching method according to claim 15, wherein the first MCS scheduling array, the second MCS scheduling array, the largest MCS gear of the first channel, and the largest MCS gear of the second channel are based on the first MCS scheduling array, the second MCS scheduling array, and Determine the bandwidth switching index, including:

Counting the number of MCS gears in the first MCS scheduling array that is less than or equal to one-half of the maximum MCS gear of the first channel to obtain the first number;

Counting the number of MCS gears in the second MCS scheduling array that is less than or equal to one-half of the maximum MCS gear of the second channel to obtain a second number;

The bandwidth switching index is determined according to the first number, the second number, and the preset number.
The bandwidth switching method according to claim 15, wherein the method further comprises:

When it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, acquiring the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth;

According to the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth, it is determined whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.
The bandwidth switching method according to claim 17, wherein the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth are used to determine whether the wireless link meets the requirements of the current bandwidth. The bandwidth switching conditions for switching to the target bandwidth include:

Determine the maximum throughput of the target bandwidth according to the maximum MCS gear of the target bandwidth;

When it is determined that the maximum throughput of the target bandwidth is greater than or equal to the current throughput of the current bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the maximum throughput of the target bandwidth is less than the current throughput of the current bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.
A bandwidth switching device, characterized in that the bandwidth switching device is used to control the working bandwidth of a wireless link to switch between multiple bandwidths, and the bandwidth switching device includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Acquire the first target interference power spectral density under the current bandwidth and the second target interference power spectral density under the remaining bandwidth of the wireless link, where the remaining bandwidth is the number of bandwidths other than the current bandwidth bandwidth;

Determine a target bandwidth from the remaining bandwidths according to the first target interference power spectral density and the second target interference power spectral density;

When it is determined that the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, switching the current bandwidth of the wireless link to the target bandwidth.
The bandwidth switching device according to claim 19, wherein when the processor implements the acquisition of the first target interference power spectral density of the wireless link under the current bandwidth, it is used to implement:

Acquiring the interference power spectral density of each channel of the wireless link under the current bandwidth;

The first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density of each channel under the current bandwidth.
The bandwidth switching device according to claim 20, wherein the processor is configured to determine the first target interference power of the wireless link in the current bandwidth according to the interference power spectrum density of each channel in the current bandwidth When the spectral density is used, it is used to achieve:

Acquiring the current modulation and demodulation strategy MCS gear under the current bandwidth, and determining the signal energy attenuation value under the current bandwidth according to the current MCS gear under the current bandwidth;

Determine the interference power spectral density corresponding to the current bandwidth according to the interference power spectral density of each channel under the current bandwidth;

The first target interference power spectral density of the wireless link under the current bandwidth is determined according to the interference power spectral density corresponding to the current bandwidth and the signal energy attenuation value.
22. The bandwidth switching device according to claim 21, wherein the processor is configured to determine the interference power spectrum density corresponding to the current bandwidth according to the interference power spectrum density of each channel under the current bandwidth. accomplish:

The minimum interference power spectrum density in the interference power spectrum density of each channel under the current bandwidth is used as the interference power spectrum density corresponding to the current bandwidth.
The bandwidth switching device according to any one of claims 19 to 22, wherein the target interference power spectral density of the target bandwidth is smaller than the first target interference power spectral density.
The bandwidth switching device according to claim 23, wherein the ratio of the target bandwidth to the current bandwidth is equal to a first preset ratio or a second preset ratio.
The bandwidth switching device according to any one of claims 19 to 22, wherein the processor is further configured to implement the following steps:

When it is determined that the current bandwidth and the target bandwidth are both smaller than the preset bandwidth, acquiring the current throughput of the current bandwidth and the limit throughput of the target bandwidth;

According to the current throughput and the limit throughput, it is determined whether the wireless link satisfies a bandwidth switching condition for switching from the current bandwidth to the target bandwidth.
The bandwidth switching device according to claim 25, wherein the limit throughput includes any one of a maximum throughput and a minimum throughput; When determining whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, it is used to achieve:

When it is determined that the current bandwidth is greater than the target bandwidth and the current throughput is less than the maximum throughput of the target bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the current bandwidth is greater than the target bandwidth, and the current throughput is greater than or equal to the maximum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching device according to claim 26, wherein the processor is further configured to implement the following steps:

When it is determined that the current bandwidth is less than the target bandwidth and the current throughput is greater than the minimum throughput of the target bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the current bandwidth is less than the target bandwidth, and the current throughput is less than or equal to the minimum throughput of the target bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching device according to claim 25, wherein the processor is further configured to implement the following steps:

When it is determined that the current bandwidth or the target bandwidth is greater than or equal to the preset bandwidth, acquiring the MCS scheduling information of the MAC of the media access control layer;

Determine, according to the MCS scheduling information, whether the wireless link satisfies a bandwidth switching condition for switching from the current bandwidth to the target bandwidth.
The bandwidth switching device according to claim 28, wherein the MCS scheduling information includes an MCS scheduling array, and the MCS scheduling array includes a preset number of scheduled MCS gear positions; When the MCS scheduling information determines whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth, it is used to achieve:

When it is determined that the current bandwidth is less than the target bandwidth, determine the full scheduling rate of the wireless link according to the MCS scheduling array and the maximum MCS gear of the current bandwidth;

When it is determined that the full scheduling rate is greater than or equal to the preset full scheduling rate, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the full scheduling rate is less than the preset full scheduling rate, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching device according to claim 29, wherein the processor is configured to determine the full scheduling rate of the wireless link according to the MCS scheduling array and the maximum MCS gear of the current bandwidth. accomplish:

Count the number of MCS gears in the MCS scheduling array equal to the maximum MCS gears of the current bandwidth to obtain the target number;

Determine the full scheduling rate of the wireless link according to the preset number and the target number.
The bandwidth switching device according to claim 29, wherein the processor is further configured to implement the following steps:

When it is determined that the full scheduling rate is greater than or equal to a preset threshold, acquiring the interference power spectral density of each channel of the wireless link under the current bandwidth;

Determine, according to the interference power spectrum density of each channel of the wireless link under the current bandwidth, whether there are two consecutive channels whose interference power spectrum density is both less than a first preset threshold;

When it is determined that the interference power spectral densities of two consecutive channels are less than the first preset threshold, and the difference between the interference power spectral densities of the two consecutive channels is less than or equal to the second preset threshold, the wireless link is determined The path meets the bandwidth switching condition.
The bandwidth switching device according to claim 31, wherein the processor is further configured to implement the following steps:

When it is determined that there are no interference power spectral densities of two consecutive channels that are both less than the first preset threshold, it is determined that the wireless link does not meet the bandwidth switching condition; or

When it is determined that the interference power spectral densities of two consecutive channels are both smaller than the first preset threshold, and the difference between the interference power spectral densities of the two consecutive channels is greater than the second preset threshold, it is determined that the wireless link is not Meet the bandwidth switching condition.
The bandwidth switching device according to claim 28, wherein the MCS scheduling information includes a first MCS scheduling array and a second MCS scheduling array respectively corresponding to the continuous first channel and the second channel under the current bandwidth , The first MCS scheduling array and the second MCS scheduling array both include a preset number of scheduled MCS gears; the processor realizes that according to the MCS scheduling information, it determines whether the wireless link meets the requirements of the current When bandwidth switching is the bandwidth switching condition of the target bandwidth, it is used to achieve:

When it is determined that the current bandwidth is greater than the target bandwidth, acquiring the maximum MCS gear of the first channel and the maximum MCS gear of the second channel;

Determine the bandwidth switching index according to the first MCS scheduling array, the second MCS scheduling array, the maximum MCS gear of the first channel, and the maximum MCS gear of the second channel;

When it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the bandwidth switching index is less than the preset bandwidth switching index, it is determined that the wireless link does not satisfy the bandwidth switching condition.
The bandwidth switching device according to claim 33, wherein the processor implements the maximum MCS gear of the first channel and the maximum MCS of the second channel according to the first MCS scheduling array, the second MCS scheduling array, and the maximum MCS of the first channel. Gear position, when determining the bandwidth switching index, it is used to achieve:

Counting the number of MCS gears in the first MCS scheduling array that is less than or equal to one-half of the maximum MCS gear of the first channel to obtain the first number;

Counting the number of MCS gears in the second MCS scheduling array that is less than or equal to one-half of the maximum MCS gear of the second channel to obtain a second number;

The bandwidth switching index is determined according to the first number, the second number, and the preset number.
The bandwidth switching device according to claim 33, wherein the processor is further configured to implement the following steps:

When it is determined that the bandwidth switching index is greater than or equal to the preset bandwidth switching index, acquiring the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth;

According to the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth, it is determined whether the wireless link satisfies the bandwidth switching condition for switching from the current bandwidth to the target bandwidth.
The bandwidth switching device according to claim 35, wherein the processor determines whether the wireless link satisfies the current throughput of the current bandwidth and the maximum MCS gear of the target bandwidth. When the current bandwidth is switched to the bandwidth switching condition of the target bandwidth, it is used to realize:

Determine the maximum throughput of the target bandwidth according to the maximum MCS gear of the target bandwidth;

When it is determined that the maximum throughput of the target bandwidth is greater than or equal to the current throughput of the current bandwidth, determining that the wireless link satisfies the bandwidth switching condition;

When it is determined that the maximum throughput of the target bandwidth is less than the current throughput of the current bandwidth, it is determined that the wireless link does not satisfy the bandwidth switching condition.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises a photographing device and the bandwidth switching device according to any one of claims 19 to 36.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes as described in any one of claims 1 to 18. The bandwidth switching method described.