Unmanned aerial vehicle data interaction method and device, unmanned aerial vehicle and storage medium

Abstract

The invention provides an unmanned aerial vehicle data interaction method and device, an unmanned aerial vehicle and a storage medium, and relates to the technical field of data interaction. In the application, firstly, a target IP data message is transmitted to a data link layer in a data sending node; secondly, determining a PCIE effective data load in a to-be-generated target PCIE data message based on an IP effective data load in the target IP data message through a data link layer, and fusing an IP frame header in the target IP data message into a PCIE frame header in the to-be-generated target PCIE data message based on a message frame header fusion rule to form a fused PCIE frame header; and then, based on the PCIE effective data load and the fused PCIE frame header, generating a target PCIE data message, and based on a PCIE link, transmitting the target PCIE data message to a data receiving node. Based on the content, the problems of low data transmission efficiency and resource waste in the prior art can be improved.

Description

Technical Field

[0001] The present application relates to the field of data interaction technology, and in particular to a drone data interaction method and device, a drone, and a storage medium. Background Art

[0002] Large UAVs are generally composed of multiple subsystems, among which the mission computing subsystem is an important subsystem, whose main responsibility is to receive the raw data generated by various payload devices / sensors and perform calculations and make decisions based on algorithms. For example, the main business objectives of the mission computing subsystem include target tracking, laser positioning, obstacle avoidance, path planning, mission decision-making, filtering navigation, etc. To support the aforementioned business objectives, the mission computing subsystem needs to deploy a variety of software modules and algorithm models. In addition, clusters can be built between large UAVs. All software modules deployed on the UAV mission computing subsystems within a cluster can communicate with each other. The software module communication mechanism can use the IP protocol. For example, TCP, UDP, and various application protocols can be used to establish an interaction mechanism between software modules.

[0003] However, the underlying networking technology of large drone swarms uses data links. Data links transmit information based on radio waves, and their bandwidth and communication frequency are usually pre-allocated. In addition, due to the inherent characteristics of wireless transmission of data links, the upper-layer application protocol messages they carry need to be concise and efficient.

[0004] In order to support the transmission of IP packets on the data link, the existing transmission technologies all use IP tunnel technology. IP tunnel is a method of encapsulation and decapsulation on the existing network protocol to achieve information exchange between two different protocols. Its technical principle is to encapsulate the data packet of one protocol into the payload of the packet of another protocol to achieve the transmission of the packet of one protocol from one point to another, and then decapsulate to obtain the required protocol packet. For example, IP packets are transmitted based on PCIE links, that is, IP Over PCIE packets, such as Figure 1 As shown. Among them, based on IP tunnel technology, such as IP over PCIE, it is necessary to encapsulate IP packets through PCIE packets and then transmit them through PCIE links. After receiving the PCIE packets, the other end decapsulates the IP packets.

[0005] However, the inventors have found through research that when data is transmitted based on the existing IP tunnel technology, there are problems of low data transmission efficiency and waste of resources. Summary of the invention

[0006] In view of this, the purpose of the present application is to provide a drone data interaction method and device, a drone and a storage medium to improve the problems of low data transmission efficiency and resource waste in the prior art.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] A drone data interaction method is applied to any drone in a drone cluster. When the drone serves as a data sending node, other drones in the drone cluster serve as data receiving nodes. The drone data interaction method includes:

[0009] Generate a target IP data message through the network layer in the data sending node, and transmit the target IP data message to the data link layer in the data sending node, wherein the target IP data message includes an IP frame header and an IP effective data payload;

[0010] After the data link layer in the data sending node obtains the target IP data message, based on the IP effective data load in the target IP data message, the PCIE effective data load in the target PCIE data message to be generated is determined, and based on a predetermined message frame header fusion rule, the IP frame header in the target IP data message is merged into the PCIE frame header in the target PCIE data message to be generated to form a merged PCIE frame header;

[0011] The target PCIE data message is generated based on the PCIE effective data payload and the fused PCIE frame header, and the target PCIE data message is transmitted to the data receiving node based on the PCIE link between the data sending node and the data receiving node.

[0012] In a preferred choice of the present application, in the above-mentioned drone data interaction method, after the data link layer in the data sending node obtains the target IP data message, based on the IP effective data load in the target IP data message, the PCIE effective data load in the target PCIE data message to be generated is determined, and based on a predetermined message frame header fusion rule, the IP frame header in the target IP data message is merged into the PCIE frame header in the target PCIE data message to be generated, and the step of forming a merged PCIE frame header includes:

[0013] After the data link layer in the data sending node obtains the target IP data message, the corresponding IP effective data payload is extracted from the target IP data message, and the IP effective data payload is used as the PCIE effective data payload in the target PCIE data message to be generated;

[0014] Based on a predetermined message frame header fusion rule, determine a first frame header field and a second frame header field, wherein the first frame header field refers to a portion of the frame header fields in the PCIE frame header of the target PCIE data message to be generated that need to be fused with the IP frame header in the target IP data message, and the second frame header field refers to a portion of the frame header fields in the PCIE frame header of the target PCIE data message to be generated that do not need to be fused with the IP frame header in the target IP data message;

[0015] According to the content of the PCIE frame header in the target PCIE data message to be generated, the content of the first frame header field in the IP frame header in the target IP data message is merged to form the content of the third frame header field in the target PCIE data message to be generated;

[0016] Based on the content of the second frame header field of the IP frame header in the target IP data message, forming the content of the fourth frame header field in the target PCIE data message to be generated;

[0017] A fused PCIE frame header is formed based on the content of the third frame header field in the target PCIE data message to be generated and the content of the fourth frame header field in the target PCIE data message to be generated.

[0018] In a preferred embodiment of the present application, in the above-mentioned drone data interaction method, the step of fusing the content of the first frame header field in the IP frame header in the target IP data message according to the content of the PCIE frame header in the target PCIE data message to be generated to form the content of the third frame header field in the target PCIE data message to be generated includes:

[0019] According to the correspondence between the data link protocol type and the IP protocol type of the PCIE frame header in the target PCIE data message to be generated, the IP protocol type in the first frame header field in the IP frame header in the target IP data message is merged to form the data link protocol type of the third frame header field in the target PCIE data message to be generated, wherein when the IP protocol type belongs to TCP, the corresponding data link protocol type is a preset first parameter, and when the IP protocol type belongs to UDP, the corresponding data link protocol type is a preset second parameter;

[0020] According to the data link destination node ID of the PCIE frame header in the target PCIE data message to be generated, the destination IP address information in the first frame header field in the IP frame header in the target IP data message is replaced to form the destination IP address information in the third frame header field in the target PCIE data message to be generated, wherein the data link destination node ID is the ID of the data receiving node.

[0021] In a preferred choice of the present application, in the above-mentioned drone data interaction method, the step of replacing the destination IP address information in the first frame header field in the IP frame header in the target IP data message according to the data link destination node ID of the PCIE frame header in the target PCIE data message to be generated, and forming the destination IP address information in the third frame header field in the target PCIE data message to be generated, includes:

[0022] Determine the data link destination node ID corresponding to the destination IP address information in the first frame header field in the IP frame header in the target IP data message in the pre-stored target correspondence relationship;

[0023] Based on the data link destination node ID corresponding to the destination IP address information in the first frame header field in the IP frame header in the target IP data message, the destination IP address information in the first frame header field in the IP frame header in the target IP data message is replaced to form the destination IP address information in the third frame header field in the target PCIE data message to be generated.

[0024] In a preferred embodiment of the present application, in the above-mentioned drone data interaction method, the drone data interaction method further includes a step of forming the target correspondence relationship, which step includes:

[0025] Obtaining an address-associated message sent by the data receiving node, wherein the address-associated message carries the node ID and IP address information of the data receiving node, wherein when there are multiple data receiving nodes, each of the data receiving nodes sends the address-associated message according to a predetermined corresponding time slot and through a PCIE link between the data receiving node, and the address-associated message belongs to a PCIE message;

[0026] Based on the node ID and IP address information in the address association message, the target correspondence relationship corresponding to the data receiving node is determined.

[0027] In a preferred embodiment of the present application, in the above-mentioned drone data interaction method, the step of forming the content of the fourth frame header field in the target PCIE data message to be generated based on the content of the second frame header field of the IP frame header in the target IP data message includes:

[0028] The version information, header length information, service type information, total length information, identification information, flag bit information, slice offset information, lifetime information, header checksum information, and source IP address information of the second frame header field of the IP frame header in the target IP data message are used as the version information, header length information, service type information, total length information, identification information, flag bit information, slice offset information, lifetime information, header checksum information, and source IP address information of the fourth frame header field in the target PCIE data message to be generated.

[0029] In a preferred embodiment of the present application, in the above-mentioned drone data interaction method, before the step of generating a target IP data message through the network layer in the data sending node and transmitting the target IP data message to the data link layer in the data sending node, the drone data interaction method further includes:

[0030] Generate a maximum transmission unit parameter of an IP protocol stack for a network layer in the data sending node through a data link layer in the data sending node, wherein the maximum transmission unit parameter refers to a maximum data volume of an IP message generated by the network layer;

[0031] The maximum transmission unit parameter is transmitted to the network layer in the data sending node through the data link layer in the data sending node, wherein the maximum transmission unit parameter is used to instruct the network layer not to perform message fragmentation when generating the target IP data message.

[0032] The present application also provides another drone data interaction method, which is applied to any drone in a drone cluster. When the drone serves as a data receiving node, other drones in the drone cluster serve as data sending nodes. The drone data interaction method includes:

[0033] Receive the target PCIE data message transmitted by the data sending node through the data link layer of the data receiving node, wherein the data sending node is used to generate a target IP data message through the network layer, and transmit the target IP data message to the data link layer, and, based on the IP effective data load in the target IP data message, determine the PCIE effective data load in the target PCIE data message to be generated, and based on a predetermined message frame header fusion rule, fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated to form a fused PCIE frame header, and, based on the PCIE effective data load and the fused PCIE frame header, generate the target PCIE data message, and based on the PCIE link between the data sending node and the data receiving node, transmit the target PCIE data message to the data receiving node;

[0034] Parsing the target PCIE data message through the data link layer of the data receiving node to obtain the PCIE effective data payload and the fused PCIE frame header in the target PCIE data message, and performing frame header reconstruction processing on the fused PCIE frame header based on the message frame header fusion rule to obtain a corresponding reconstructed IP frame header, and generating a reconstructed IP data message based on the reconstructed IP frame header and the PCIE effective data payload;

[0035] The reconstructed IP data message is obtained through the network layer of the data receiving node, and the reconstructed IP data message is processed using the IP protocol stack in the network layer.

[0036] The present application also provides a drone data interaction device, which is applied to any drone in a drone cluster. When the drone serves as a data sending node, other drones in the drone cluster serve as data receiving nodes. The drone data interaction device includes:

[0037] An IP data message transmission module, used for generating a target IP data message through the network layer in the data sending node, and transmitting the target IP data message to the data link layer in the data sending node, wherein the target IP data message includes an IP frame header and an IP effective data payload;

[0038] A data message fusion module, which is used to determine the PCIE effective data load in the target PCIE data message to be generated based on the IP effective data load in the target IP data message after the data link layer in the data sending node obtains the target IP data message, and fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated based on a predetermined message frame header fusion rule to form a fused PCIE frame header;

[0039] The PCIE data message transmission module is used to generate the target PCIE data message based on the PCIE effective data payload and the fused PCIE frame header, and transmit the target PCIE data message to the data receiving node based on the PCIE link between the data sending node and the data receiving node.

[0040] The present application also provides another drone data interaction device, which is applied to any drone in a drone cluster. When the drone serves as a data receiving node, other drones in the drone cluster serve as data sending nodes. The drone data interaction device includes:

[0041] A PCIE data message receiving module, configured to receive a target PCIE data message transmitted by the data sending node through the data link layer of the data receiving node, wherein the data sending node is configured to generate a target IP data message through the network layer, and transmit the target IP data message to the data link layer, and determine the PCIE effective data load in the target PCIE data message to be generated based on the IP effective data load in the target IP data message, and fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated based on a predetermined message frame header fusion rule to form a fused PCIE frame header, and generate the target PCIE data message based on the PCIE effective data load and the fused PCIE frame header, and transmit the target PCIE data message to the data receiving node based on the PCIE link between the data sending node and the data receiving node;

[0042] A data message reconstruction module, configured to parse the target PCIE data message through the data link layer of the data receiving node to obtain the PCIE effective data payload and the fused PCIE frame header in the target PCIE data message, and to perform frame header reconstruction processing on the fused PCIE frame header based on the message frame header fusion rule to obtain a corresponding reconstructed IP frame header, and to generate a reconstructed IP data message based on the reconstructed IP frame header and the PCIE effective data payload;

[0043] The data message processing module is used to obtain the reconstructed IP data message through the network layer of the data receiving node, and process the reconstructed IP data message using the IP protocol stack in the network layer.

[0044] On the basis of the above, the present application also provides a drone, including:

[0045] Memory for storing computer programs;

[0046] The processor connected to the memory is used to execute the computer program stored in the memory to implement the above-mentioned drone data interaction method.

[0047] On the basis of the above, the present application also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is run, each step of the above-mentioned drone data interaction method is executed.

[0048] The drone data interaction method and device, drone and storage medium provided by the present application first transmit the target IP data message to the data link layer in the data sending node; secondly, determine the PCIE effective data load in the target PCIE data message to be generated based on the IP effective data load in the target IP data message through the data link layer, and fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated based on the message frame header fusion rule to form a fused PCIE frame header; then, generate the target PCIE data message based on the PCIE effective data load and the fused PCIE frame header, and transmit the target PCIE data message to the data receiving node based on the PCIE link. Based on the above content, since the IP frame header will be merged into the PCIE frame header when the IP data packet is encapsulated as a PCIE data packet, the data volume of the merged PCIE frame header is more likely to be smaller than the sum of the data volume of the IP frame header itself and the data volume of the PCIE frame header itself. In this way, compared with the solution of directly encapsulating all IP data packets in the effective data payload of the PCIE data packet, the problem of bandwidth waste and reduction of effective bandwidth of data caused by excessive data volume of the frame header can be effectively avoided. In other words, the problems of low data transmission efficiency and resource waste existing in the prior art can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

[0050] Figure 1 A schematic diagram of encapsulating an IP message through a PCIE message.

[0051] Figure 2 A structural block diagram of a drone provided in an embodiment of the present application.

[0052] Figure 3 A flowchart of a drone data interaction method provided in an embodiment of the present application.

[0053] Figure 4 A schematic diagram of an IP frame header provided in an embodiment of the present application.

[0054] Figure 5 A schematic diagram of frame header fusion processing provided in an embodiment of the present application.

[0055] Figure 6 A flowchart of another drone data interaction method provided in an embodiment of the present application.

[0056] Figure 7 A schematic diagram of drone data interaction provided in an embodiment of the present application.

[0057] Figure 8 A block diagram of a drone data interaction device provided in an embodiment of the present application.

[0058] Fig. 9 A block diagram of another drone data interaction device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0061] like Figure 2 As shown, an embodiment of the present application provides a drone, wherein the drone may include a memory, a processor, and a drone data interaction device.

[0062] In detail, the memory and the processor are electrically connected directly or indirectly to achieve data transmission or interaction. For example, the memory and the processor can be electrically connected through one or more communication buses or signal lines. The drone data interaction device includes at least one software function module stored in the memory in the form of software or firmware. The processor is used to execute an executable computer program stored in the memory, for example, the software function module and computer program included in the drone data interaction device, so as to implement the drone data interaction method provided in the embodiment of the present application.

[0063] Optionally, the memory can be, but is not limited to, random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0064] Furthermore, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a system on chip (SoC), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0065] Understandably, Figure 2 The structure shown is for illustration only, and the drone may also include Figure 1 More or fewer components as shown, or with Figure 2 The different configurations shown, for example, may also include a communication unit for exchanging information with other devices (such as a background server, etc.).

[0066] Combination Figure 3 , the embodiment of the present application also provides a drone data interaction method applicable to the above-mentioned drone. The method steps defined in the process related to the drone data interaction method can be implemented by the drone, wherein the drone can be any drone in the drone cluster, and when the drone acts as a data sending node, other drones in the drone cluster can act as data receiving nodes. Figure 3 The specific process shown is explained in detail.

[0067] Step S110, generating a target IP data message through the network layer in the data sending node, and transmitting the target IP data message to the data link layer in the data sending node.

[0068] In an embodiment of the present application, a target IP data message can be generated by the network layer in the data sending node, and then the target IP data message can be transmitted to the data link layer (such as PCIE protocol layer) in the data sending node through the network layer. Wherein, the target IP data message includes an IP frame header (exemplarily, containing control information about the message itself, such as source address, destination address, data packet type, length, etc. The header information is usually specified by the protocol and used to control the transmission and processing of data packets) and an IP effective data payload (Payload, also known as the data field, is the data portion of the message that actually needs to be transmitted. The effective load is the main content of the network communication, which contains the data information that the user or application needs to send or receive).

[0069] Step S120, after the data link layer in the data sending node obtains the target IP data message, the PCIE effective data load in the target PCIE data message to be generated is determined based on the IP effective data load in the target IP data message, and based on a predetermined message frame header fusion rule, the IP frame header in the target IP data message is merged into the PCIE frame header in the target PCIE data message to be generated to form a fused PCIE frame header.

[0070] In an embodiment of the present application, after the data link layer in the data sending node obtains the target IP data message, the data link layer can determine the PCIE effective data load in the target PCIE data message to be generated based on the IP effective data load in the target IP data message, and the IP (Internet Protocol) frame header in the target IP data message can also be fused into the PCIE frame header in the target PCIE data message to be generated based on a predetermined message frame header fusion rule. In this way, a fused PCIE (abbreviation of Peripheral Component Interconnect Express, which is a computer bus standard. PCIE provides a high-bandwidth point-to-point connection method) frame header can be formed to reduce the bandwidth occupancy of the frame header.

[0071] Step S130, generating the target PCIE data message based on the PCIE effective data payload and the fused PCIE frame header, and transmitting the target PCIE data message to the data receiving node based on the PCIE link between the data sending node and the data receiving node.

[0072] In an embodiment of the present application, the target PCIE data message can be generated by the data link layer in the data sending node based on the PCIE effective data payload and the fused PCIE frame header, and then the target PCIE data message can be transmitted to the data receiving node based on the PCIE link between the data sending node and the data receiving node.

[0073] Based on the above content, since the IP frame header will be merged into the PCIE frame header when the IP data packet is encapsulated as a PCIE data packet, the data volume of the merged PCIE frame header is more likely to be smaller than the sum of the data volume of the IP frame header itself and the data volume of the PCIE frame header itself. In this way, compared with the solution of directly encapsulating all IP data packets in the effective data payload of the PCIE data packet, the problem of bandwidth waste and reduction of effective bandwidth of data caused by excessive data volume of the frame header can be effectively avoided. In other words, the problems of low data transmission efficiency and resource waste in the prior art can be improved to achieve efficient data transmission.

[0074] It should be noted that for the above step S120, the specific method of forming the PCIE effective data payload and the fused PCIE frame header is not limited and can be selected according to actual needs.

[0075] For example, in an alternative implementation, in order to ensure that effective message transmission can be performed through the PCIE link based on the formed target PCIE data message and to ensure that the data receiving node can perform effective processing (such as reconstructing the message, etc.) after receiving the message, the above-mentioned step S120 can further include step S121, step S122, step S123, step S124 and step S125, and the specific content of each step is described as follows.

[0076] Step S121, after the data link layer in the data sending node obtains the target IP data message, the corresponding IP effective data payload is extracted from the target IP data message, and the IP effective data payload is used as the PCIE effective data payload in the target PCIE data message to be generated.

[0077] In an embodiment of the present application, after the data link layer in the data sending node obtains the target IP data message, the data link layer can extract the corresponding IP effective data payload from the target IP data message, and use the IP effective data payload as the PCIE effective data payload in the target PCIE data message to be generated.

[0078] Step S122: determining a first frame header field and a second frame header field based on a predetermined message frame header fusion rule.

[0079] In an embodiment of the present application, a first frame header field and a second frame header field can be determined based on a predetermined message frame header fusion rule, wherein the first frame header field refers to a portion of the frame header fields in the PCIE frame header of the target PCIE data message to be generated that needs to be fused with the IP frame header in the target IP data message, and the second frame header field refers to a portion of the frame header fields in the PCIE frame header of the target PCIE data message to be generated that does not need to be fused with the IP frame header in the target IP data message. In other words, in the process of frame header fusion, only part of the frame header field content can be fused to ensure that both effective data transmission can be performed through the PCIE link and the IP data message can be reliably reconstructed. Among them, the fields of the IP frame header can be as follows: Figure 4 Specifically, the following are the common fields in the IP frame header and their meanings:

[0080] Version: occupies 4 bits, indicating the version number of the IP protocol, IPv4 is 4, IPv6 is 6;

[0081] Header Length: occupies 4 bits and indicates the length of the IP header in 32-bit words (4 bytes). Because the IP header length is variable, this field indicates the header length, usually 5 32-bit words (20 bytes);

[0082] Type of Service (TOS): occupies 8 bits and indicates the service type or priority of the data packet, which is used for QoS (Quality of Service) management;

[0083] Total Length: 16 bits, indicating the total length of the entire IP datagram, including the IP header and data part, in bytes;

[0084] Identification: occupies 16 bits and is used to uniquely identify a fragment of an IP datagram. If the IP datagram needs to be transmitted in fragments, all fragments share the same identifier;

[0085] Flags: occupies 3 bits, including fragmentation control flags, such as "no fragmentation", "more fragments", etc.

[0086] Fragment Offset: occupies 13 bits, indicating the offset of the IP datagram fragment in the original datagram, in units of 8 bytes (64 bits);

[0087] Time to Live (TTL): occupies 8 bits and indicates the maximum lifetime (number of hops) of an IP datagram in the network. The TTL value decreases by one every time it passes through a router. When the TTL value reaches 0, the datagram will be discarded.

[0088] Protocol: occupies 8 bits and indicates the upper layer protocol of the IP datagram, such as TCP (6), UDP (17), ICMP (1), etc.

[0089] Header Checksum: occupies 16 bits and is used to verify the integrity of the IP header to ensure that the IP header has not been modified or damaged during transmission;

[0090] Source IP Address: occupies 32 bits and indicates the IP address of the sender;

[0091] Destination IP Address: 32 bits, indicating the IP address of the receiving end;

[0092] Options: This field allows IP datagrams to carry some additional information when necessary. This information goes beyond the functions provided by the fixed fields of the IP header. These options can be used for different purposes, such as debugging, specific security requirements, routing control, traffic management, etc. The Options field is located after the fixed part of the IP header and has a variable length. Its existence depends on the header length field (Header Length) in the IP header. The Options field usually consists of one or more options. Each option contains a one-byte type field and a byte length field, followed by variable-length data. The format of the option can be protocol-specific or function-specific. Common options include security options (used for security-related settings such as encryption and authentication), timestamp options (used for network analysis and diagnosis, recording the timestamp of the datagram passing through), route record options (used to record the routing path of the datagram), and record routing options (specify the routing path of the datagram, forcing the router to send data packets according to the specified routing path).

[0093] Step S123, based on the content of the PCIE frame header in the target PCIE data message to be generated, the content of the first frame header field in the IP frame header in the target IP data message is merged to form the content of the third frame header field in the target PCIE data message to be generated.

[0094] In the embodiment of the present application, after determining the first frame header field and the second frame header field, the content of the first frame header field in the IP frame header in the target IP data message to be generated can be fused according to the content of the PCIE frame header in the target PCIE data message to be generated, so as to form the content of the third frame header field in the target PCIE data message to be generated. Figure 5 shown.

[0095] Step S124: forming the content of the fourth frame header field in the target PCIE data message to be generated based on the content of the second frame header field of the IP frame header in the target IP data message.

[0096] In the embodiment of the present application, after determining the first frame header field and the second frame header field, the content of the fourth frame header field in the target PCIE data message to be generated can be formed based on the content of the second frame header field of the IP frame header in the target IP data message, which can be referred to Figure 5 shown.

[0097] Step S125: forming a fused PCIE frame header based on the content of the third frame header field in the target PCIE data message to be generated and the content of the fourth frame header field in the target PCIE data message to be generated.

[0098] In the embodiment of the present application, after forming the content of the third frame header field and the content of the fourth frame header, a fused PCIE frame header may be formed based on the content of the third frame header field in the target PCIE data message to be generated and the content of the fourth frame header field in the target PCIE data message to be generated. That is, the fused PCIE frame header may include the content of the third frame header field and the content of the fourth frame header.

[0099] It can be understood that, in the above step S123, the specific manner of fusing the content of the first frame header field in the IP frame header in the target IP data message is not limited.

[0100] For example, in an alternative implementation, in order to enable the fused frame header to effectively characterize the IP data packet, the above-mentioned step S123 may further include step S123a and step S123b, and the specific content of each step is described as follows.

[0101] Step S123a, based on the correspondence between the data link protocol type and the IP protocol type in the PCIE frame header in the target PCIE data message to be generated, the IP protocol type in the first frame header field in the IP frame header in the target IP data message is fused to form the data link protocol type in the third frame header field in the target PCIE data message to be generated.

[0102] In an embodiment of the present application, the IP protocol type in the first frame header field in the IP frame header in the target PCIE data message to be generated can be fused based on the correspondence between the data link protocol type and the IP protocol type in the PCIE frame header in the target PCIE data message to be generated, so as to form the data link protocol type of the third frame header field in the target PCIE data message to be generated. Wherein, when the IP protocol type belongs to TCP, the corresponding data link protocol type is a preset first parameter, such as 0xEF, and when the IP protocol type belongs to UDP, the corresponding data link protocol type is a preset second parameter, such as 0xED. It should be noted that other IP protocol types may not be fused. In addition, the third parameter (such as 0xEC) can be used to characterize the address-associated message after input.

[0103] Step S123b, according to the data link destination node ID of the PCIE frame header in the target PCIE data message to be generated, replace the destination IP address information in the first frame header field in the IP frame header in the target IP data message to form the destination IP address information in the third frame header field in the target PCIE data message to be generated.

[0104] In an embodiment of the present application, the destination IP address information in the first frame header field in the IP frame header in the target IP data message to be generated can be replaced according to the data link destination node ID of the PCIE frame header in the target PCIE data message to be generated, so as to form the destination IP address information in the third frame header field in the target PCIE data message to be generated. Wherein, the data link destination node ID is the ID of the data receiving node. In other words, the ID of the data receiving node can be used as the destination IP address information. Based on this, the fused information can have better characterization capability.

[0105] It is necessary to further explain the above step S123b that, in order to ensure that the formed destination IP address information has high reliability, step S123b may include the following contents:

[0106] First, the data link destination node ID corresponding to the destination IP address information in the first frame header field in the IP frame header of the target IP data message can be determined in the pre-stored target correspondence relationship, that is, the target correspondence relationship can be searched based on the destination IP address information to determine the corresponding data link destination node ID;

[0107] Secondly, based on the data link destination node ID corresponding to the destination IP address information in the first frame header field in the IP frame header of the target IP data message, the destination IP address information in the first frame header field in the IP frame header of the target IP data message can be replaced to form the destination IP address information in the third frame header field in the target PCIE data message to be generated.

[0108] Exemplarily, in order to ensure that a reliable target correspondence relationship can be formed, the drone data interaction method may further include a step of forming the target correspondence relationship, which may include:

[0109] First, an address-associated message sent by the data receiving node can be obtained, wherein the address-associated message carries the node ID and IP address information of the data receiving node, wherein when there are multiple data receiving nodes, each of the data receiving nodes sends the address-associated message according to a predetermined corresponding time slot and through a PCIE link between the data receiving node, and the address-associated message belongs to a PCIE message;

[0110] Then, based on the node ID and IP address information in the address association message, the target correspondence relationship corresponding to the data receiving node may be determined, that is, the target correspondence relationship may contain the corresponding node ID and IP address information.

[0111] It can be understood that, in the above step S124, the specific manner of forming the content of the fourth frame header field in the target PCIE data message to be generated is also not limited.

[0112] For example, in an alternative implementation, in order to improve the efficiency of forming the target PCIE data message, the above step S124 may include the following contents:

[0113] The version information, header length information, service type information, total length information, identification information, flag bit information, slice offset information, lifetime information, header checksum information, and source IP address information of the second frame header field of the IP frame header in the target IP data message can be used as the version information, header length information, service type information, total length information, identification information, flag bit information, slice offset information, lifetime information, header checksum information, and source IP address information of the fourth frame header field in the target PCIE data message to be generated. That is to say, the version information, header length information, service type information, total length information, identification information, flag bit information, slice offset information, lifetime information, header checksum information, and source IP address information can remain unchanged.

[0114] It is understandable that in order to avoid the problem of resource waste caused by the overlap of IP protocol fragmentation and data link fragmentation capabilities, before the above step S110, the drone data interaction method may further include the following feasible steps:

[0115] First, a maximum transmission unit parameter (such as an MTU value) of an IP protocol stack may be generated for a network layer in the data sending node by a data link layer in the data sending node, wherein the maximum transmission unit parameter refers to a maximum data volume of an IP message generated by the network layer;

[0116] Secondly, the maximum transmission unit parameter can be transmitted to the network layer in the data sending node through the data link layer in the data sending node, wherein the maximum transmission unit parameter is used to instruct the network layer not to perform message fragmentation when generating the target IP data message. For example, the maximum transmission unit parameter can be 0xFFFFFFFF.

[0117] Combination Figure 6 , the embodiment of the present application also provides a drone data interaction method applicable to the above-mentioned drone. The method steps defined in the process related to the drone data interaction method can be implemented by the drone, wherein the drone can be any drone in the drone cluster, and when the drone acts as a data receiving node, other drones in the drone cluster can act as data sending nodes. Figure 3 The specific process shown is explained in detail.

[0118] Step S210: receiving a target PCIE data message transmitted by the data sending node through the data link layer of the data receiving node.

[0119] In an embodiment of the present application, the target PCIE data message transmitted by the data sending node can be received by the data link layer of the data receiving node. Wherein, the data sending node is used to generate a target IP data message through the network layer, and transmit the target IP data message to the data link layer, and, based on the IP effective data load in the target IP data message, determine the PCIE effective data load in the target PCIE data message to be generated, and based on a predetermined message frame header fusion rule, fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated to form a fused PCIE frame header, and, based on the PCIE effective data load and the fused PCIE frame header, generate the target PCIE data message, and based on the PCIE link between the data sending node and the data receiving node, transmit the target PCIE data message to the data receiving node (as described above).

[0120] Step S220, parsing the target PCIE data message through the data link layer of the data receiving node to obtain the PCIE effective data payload and the fused PCIE frame header in the target PCIE data message, and based on the message frame header fusion rule, performing frame header reconstruction processing on the fused PCIE frame header to obtain the corresponding reconstructed IP frame header, and generating a reconstructed IP data message based on the reconstructed IP frame header and the PCIE effective data payload.

[0121] In an embodiment of the present application, the target PCIE data message can be parsed through the data link layer of the data receiving node to obtain the PCIE effective data payload and the fused PCIE frame header in the target PCIE data message, and based on the message frame header fusion rule, the fused PCIE frame header is reconstructed (the opposite of the aforementioned fusion process) to obtain the corresponding reconstructed IP frame header, and a reconstructed IP data message is generated based on the reconstructed IP frame header and the PCIE effective data payload.

[0122] Step S230: acquiring the reconstructed IP data message through the network layer of the data receiving node, and processing the reconstructed IP data message using the IP protocol stack in the network layer.

[0123] In an embodiment of the present application, the reconstructed IP data packet can be obtained through the network layer of the data receiving node, and the reconstructed IP data packet can be processed using the IP protocol stack in the network layer, such as decapsulation, reassembly, etc., and then transmitted to the corresponding application for processing.

[0124] For the above two drone data interaction methods, the formation, sending, receiving and processing of messages can be realized. The specific process can be referred to Figure 7As shown. That is to say, for device x (drone as a data sending node), the data of its application (APP) can be processed by Socket Layer (the interface between the application and the transport layer, providing an API for network communication), TCP / UDP (the transport layer protocol, responsible for providing reliable data transmission services in the network), and IP protocol stack (the software component that handles network communication in the operating system, including IP, TCP, UDP and other protocols, responsible for data encapsulation, routing and parsing) to form an IP message (such as a target IP data message), and then, through the above-mentioned first drone data interaction method, it can be fused to form a data link message (such as a target PCIE data message) and transmitted to device y (drone as a data receiving node), and then, it is parsed and reconstructed to form an IP message (such as a reconstructed IP data message), and then, it is processed by the corresponding IP protocol stack, TCP / UDP, and Socket Layer, and the processing result is transmitted to the corresponding application (APP) for further application processing.

[0125] For example, in a specific application, the drone cluster includes drone A, drone B, and drone C. Drone A, drone B, and drone C deploy a mission computing system. The mission computing systems of drone A, drone B, and drone C are deployed with an IP protocol stack device (network layer). The mission computing systems of drone A, drone B, and drone C are deployed with a data link protocol device (data link layer). The mission computing systems of drone A, drone B, and drone C establish a network through the data link protocol device. The data link protocol devices of drone A, drone B, and drone C respectively send an "address association" message of Type (protocol type) = 0xEC. The data link protocol devices of the mission computing systems of UAV A, UAV B, and UAV C receive each other's "address association" messages and record each other's node IDs (each node in the data link network has an ID number to represent itself. Its communication mechanism is that each node sends data in a "time slot" manner; other nodes in the network can receive it. Each node can know which node the received data comes from through the "time slot", and which node the data belongs to through the "addr (address)" field in the frame header) and IP addresses. The mission computing system of UAV A sends IP messages through the IP protocol stack device, and its data link protocol device obtains the IP messages and generates "fusion" through fusion rules. The data link protocol device of the mission computing system of drone B and drone C receives the data link message sent by the data link protocol device of the mission computing system of drone A, and parses the headers respectively. The data link protocol device of the mission computing system of drone B determines that the message is its own, and the data link protocol device of the mission computing system of drone C determines that the message is not its own and discards it. The data link protocol device of the mission computing system of drone B generates an IP message according to the reconstruction rule and forwards it to the IP protocol stack device. In this way, the application of the mission computing system of drone B obtains the data formed by the application of the mission computing system of drone A from the IP protocol stack device.

[0126] Based on the above method, we can achieve:

[0127] 1) According to the technical characteristics of the data link network, the fusion rules of the IP frame header and the data link frame header are set so that the fused data link message supports IP data transmission;

[0128] 2) According to the rule of reconstructing the IP frame header from the data link frame header, the data link network receiving end node (i.e., data receiving node) completes the IP message frame header reconstruction and supports the reception of IP messages;

[0129] 3) Extended data link network protocol, Type = 0xEF, supports TCP message identification; Type = 0xED, supports UDP message identification; Type = 0xEC, supports the association management of IP addresses and data link addresses.

[0130] Combination Figure 8 The embodiment of the present application also provides a drone data interaction device applicable to the above-mentioned drone. The drone data interaction device may include an IP data message transmission module, a data message fusion module and a PCIE data message transmission module.

[0131] The IP datagram transmission module is used to generate a target IP datagram through the network layer in the data sending node, and transmit the target IP datagram to the data link layer in the data sending node, wherein the target IP datagram includes an IP frame header and an IP effective data load. In the embodiment of the present application, the IP datagram transmission module can be used to perform Figure 3 As shown in step S110, the relevant contents about the IP data packet transmission module can refer to the above description of step S110.

[0132] The data message fusion module is used to determine the PCIE valid data load in the target PCIE data message to be generated based on the IP valid data load in the target IP data message after the data link layer in the data sending node obtains the target IP data message, and fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated based on a predetermined message frame header fusion rule to form a fused PCIE frame header. In an embodiment of the present application, the data message fusion module can be used to perform Figure 3 As shown in step S120, the relevant contents of the data message fusion module can refer to the above description of step S120.

[0133] The PCIE data message transmission module is used to generate the target PCIE data message based on the PCIE effective data payload and the fused PCIE frame header, and transmit the target PCIE data message to the data receiving node based on the PCIE link between the data sending node and the data receiving node. In the embodiment of the present application, the PCIE data message transmission module can be used to perform Figure 3 As shown in step S130, the relevant contents about the PCIE data message transmission module can refer to the description of step S130 in the previous text.

[0134] Combination Fig. 9 The embodiment of the present application also provides another drone data interaction device applicable to the above-mentioned drone. The drone data interaction device may include a PCIE data message receiving module, a data message reconstruction module and a data message processing module.

[0135] The PCIE data message receiving module can be used to receive the target PCIE data message transmitted by the data sending node through the data link layer of the data receiving node, wherein the data sending node is used to generate a target IP data message through the network layer, and transmit the target IP data message to the data link layer, and, based on the IP effective data payload in the target IP data message, determine the PCIE effective data payload in the target PCIE data message to be generated, and based on a predetermined message frame header fusion rule, fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated to form a fused PCIE frame header, and, based on the PCIE effective data payload and the fused PCIE frame header, generate the target PCIE data message, and based on the PCIE link between the data sending node and the data receiving node, transmit the target PCIE data message to the data receiving node. In an embodiment of the present application, the PCIE data message receiving module can be used to perform Figure 6 As shown in step S210, the relevant contents about the PCIE data message receiving module can refer to the description of step S210 in the previous text.

[0136] The data message reconstruction module can be used to parse the target PCIE data message through the data link layer of the data receiving node to obtain the PCIE effective data payload and the fused PCIE frame header in the target PCIE data message, and based on the message frame header fusion rule, perform frame header reconstruction processing on the fused PCIE frame header to obtain a corresponding reconstructed IP frame header, and generate a reconstructed IP data message based on the reconstructed IP frame header and the PCIE effective data payload. In an embodiment of the present application, the data message reconstruction module can be used to perform Figure 6 As shown in step S220, the relevant contents of the data message reconstruction module can refer to the above description of step S220.

[0137] The data packet processing module can be used to obtain the reconstructed IP data packet through the network layer of the data receiving node, and use the IP protocol stack in the network layer to process the reconstructed IP data packet. In the embodiment of the present application, the data packet processing module can be used to perform Figure 6 As shown in step S230, the relevant contents of the data message processing module can refer to the above description of step S230.

[0138] In the embodiment of the present application, corresponding to the above-mentioned drone data interaction method applied to the drone, a computer-readable storage medium is also provided, in which a computer program is stored, and when the computer program is run, each step of the drone data interaction method is executed. Among them, each step executed when the aforementioned computer program is run will not be repeated here one by one, and reference can be made to the above explanation of the drone data interaction method.

[0139] In summary, the drone data interaction method and device, drone and storage medium provided by the present application can, first, transmit the target IP data message to the data link layer in the data sending node; secondly, determine the PCIE effective data load in the target PCIE data message to be generated based on the IP effective data load in the target IP data message through the data link layer, and fuse the IP frame header in the target IP data message to the PCIE frame header in the target PCIE data message to be generated based on the message frame header fusion rule to form a fused PCIE frame header; then, generate the target PCIE data message based on the PCIE effective data load and the fused PCIE frame header, and transmit the target PCIE data message to the data receiving node based on the PCIE link. Based on the above content, since the IP frame header will be merged into the PCIE frame header when the IP data packet is encapsulated as a PCIE data packet, the data volume of the merged PCIE frame header is more likely to be smaller than the sum of the data volume of the IP frame header itself and the data volume of the PCIE frame header itself. In this way, compared with the solution of directly encapsulating all IP data packets in the effective data payload of the PCIE data packet, the problem of bandwidth waste and reduction of effective bandwidth of data caused by excessive data volume of the frame header can be effectively avoided. In other words, the problems of low data transmission efficiency and resource waste existing in the prior art can be improved.

[0140] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device and method embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the device, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0141] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0142] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk. It should be noted that, in this article, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0143] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A drone data interaction method, characterized in that: Applied to any one drone in a drone cluster, when the drone acts as a data sending node, other drones in the drone cluster act as data receiving nodes, the drone data interaction method includes: Generate a target IP data message through the network layer in the data sending node, and transmit the target IP data message to the data link layer in the data sending node, wherein the target IP data message includes an IP frame header and an IP effective data payload; After the data link layer in the data sending node obtains the target IP data message, based on the IP effective data load in the target IP data message, the PCIE effective data load in the target PCIE data message to be generated is determined, and based on a predetermined message frame header fusion rule, the IP frame header in the target IP data message is merged into the PCIE frame header in the target PCIE data message to be generated to form a merged PCIE frame header; The target PCIE data message is generated based on the PCIE effective data payload and the fused PCIE frame header, and the target PCIE data message is transmitted to the data receiving node based on the PCIE link between the data sending node and the data receiving node.

2. The drone data interaction method according to claim 1, characterized in that: After the data link layer in the data sending node obtains the target IP data message, based on the IP effective data load in the target IP data message, the PCIE effective data load in the target PCIE data message to be generated is determined, and based on a predetermined message frame header fusion rule, the IP frame header in the target IP data message is merged into the PCIE frame header in the target PCIE data message to be generated to form a merged PCIE frame header step, including: After the data link layer in the data sending node obtains the target IP data message, the corresponding IP effective data payload is extracted from the target IP data message, and the IP effective data payload is used as the PCIE effective data payload in the target PCIE data message to be generated; Based on a predetermined message frame header fusion rule, determine a first frame header field and a second frame header field, wherein the first frame header field refers to a portion of the frame header fields in the PCIE frame header of the target PCIE data message to be generated that need to be fused with the IP frame header in the target IP data message, and the second frame header field refers to a portion of the frame header fields in the PCIE frame header of the target PCIE data message to be generated that do not need to be fused with the IP frame header in the target IP data message; According to the content of the PCIE frame header in the target PCIE data message to be generated, the content of the first frame header field in the IP frame header in the target IP data message is merged to form the content of the third frame header field in the target PCIE data message to be generated; Based on the content of the second frame header field of the IP frame header in the target IP data message, forming the content of the fourth frame header field in the target PCIE data message to be generated; A fused PCIE frame header is formed based on the content of the third frame header field in the target PCIE data message to be generated and the content of the fourth frame header field in the target PCIE data message to be generated.

3. The drone data interaction method according to claim 2, characterized in that: The step of fusing the content of the first frame header field in the IP frame header in the target IP data message according to the content of the PCIE frame header in the target PCIE data message to be generated to form the content of the third frame header field in the target PCIE data message to be generated comprises: According to the correspondence between the data link protocol type and the IP protocol type of the PCIE frame header in the target PCIE data message to be generated, the IP protocol type in the first frame header field in the IP frame header in the target IP data message is merged to form the data link protocol type of the third frame header field in the target PCIE data message to be generated, wherein when the IP protocol type belongs to TCP, the corresponding data link protocol type is a preset first parameter, and when the IP protocol type belongs to UDP, the corresponding data link protocol type is a preset second parameter; According to the data link destination node ID of the PCIE frame header in the target PCIE data message to be generated, the destination IP address information in the first frame header field in the IP frame header in the target IP data message is replaced to form the destination IP address information in the third frame header field in the target PCIE data message to be generated, wherein the data link destination node ID is the ID of the data receiving node.

4. The drone data interaction method according to claim 3, characterized in that: The step of replacing the destination IP address information in the first frame header field in the IP frame header in the target IP data message according to the data link destination node ID of the PCIE frame header in the target PCIE data message to be generated, so as to form the destination IP address information in the third frame header field in the target PCIE data message to be generated, comprises: Determine the data link destination node ID corresponding to the destination IP address information in the first frame header field in the IP frame header in the target IP data message in the pre-stored target correspondence relationship; Based on the data link destination node ID corresponding to the destination IP address information in the first frame header field in the IP frame header in the target IP data message, the destination IP address information in the first frame header field in the IP frame header in the target IP data message is replaced to form the destination IP address information in the third frame header field in the target PCIE data message to be generated.

5. The drone data interaction method according to claim 4, characterized in that: The drone data interaction method further includes a step of forming the target correspondence relationship, which step includes: Obtaining an address-associated message sent by the data receiving node, wherein the address-associated message carries the node ID and IP address information of the data receiving node, wherein when there are multiple data receiving nodes, each of the data receiving nodes sends the address-associated message according to a predetermined corresponding time slot and through a PCIE link between the data receiving node, and the address-associated message belongs to a PCIE message; Based on the node ID and IP address information in the address association message, the target correspondence relationship corresponding to the data receiving node is determined.

6. The drone data interaction method according to claim 2, characterized in that: The step of forming the content of the fourth frame header field in the target PCIE data message to be generated based on the content of the second frame header field of the IP frame header in the target IP data message comprises: The version information, header length information, service type information, total length information, identification information, flag bit information, slice offset information, lifetime information, header checksum information, and source IP address information of the second frame header field of the IP frame header in the target IP data message are used as the version information, header length information, service type information, total length information, identification information, flag bit information, slice offset information, lifetime information, header checksum information, and source IP address information of the fourth frame header field in the target PCIE data message to be generated.

7. The drone data interaction method according to any one of claims 1 to 6, characterized in that: Before the step of generating a target IP data message through the network layer in the data sending node and transmitting the target IP data message to the data link layer in the data sending node, the drone data interaction method further includes: Generate a maximum transmission unit parameter of an IP protocol stack for a network layer in the data sending node through a data link layer in the data sending node, wherein the maximum transmission unit parameter refers to a maximum data volume of an IP message generated by the network layer; The maximum transmission unit parameter is transmitted to the network layer in the data sending node through the data link layer in the data sending node, wherein the maximum transmission unit parameter is used to instruct the network layer not to perform message fragmentation when generating the target IP data message.

8. A drone data interaction method, characterized in that: Applied to any one drone in a drone cluster, when the drone serves as a data receiving node, other drones in the drone cluster serve as data sending nodes, the drone data interaction method includes: Receive the target PCIE data message transmitted by the data sending node through the data link layer of the data receiving node, wherein the data sending node is used to generate a target IP data message through the network layer, and transmit the target IP data message to the data link layer, and, based on the IP effective data load in the target IP data message, determine the PCIE effective data load in the target PCIE data message to be generated, and based on a predetermined message frame header fusion rule, fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated to form a fused PCIE frame header, and, based on the PCIE effective data load and the fused PCIE frame header, generate the target PCIE data message, and based on the PCIE link between the data sending node and the data receiving node, transmit the target PCIE data message to the data receiving node; Parsing the target PCIE data message through the data link layer of the data receiving node to obtain the PCIE effective data payload and the fused PCIE frame header in the target PCIE data message, and performing frame header reconstruction processing on the fused PCIE frame header based on the message frame header fusion rule to obtain a corresponding reconstructed IP frame header, and generating a reconstructed IP data message based on the reconstructed IP frame header and the PCIE effective data payload; The reconstructed IP data message is obtained through the network layer of the data receiving node, and the reconstructed IP data message is processed using the IP protocol stack in the network layer.

9. A drone data interaction device, characterized in that: Applied to any one drone in a drone cluster, when the drone acts as a data sending node, other drones in the drone cluster act as data receiving nodes, the drone data interaction device includes: An IP data message transmission module, used for generating a target IP data message through the network layer in the data sending node, and transmitting the target IP data message to the data link layer in the data sending node, wherein the target IP data message includes an IP frame header and an IP effective data payload; A data message fusion module, which is used to determine the PCIE effective data load in the target PCIE data message to be generated based on the IP effective data load in the target IP data message after the data link layer in the data sending node obtains the target IP data message, and fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated based on a predetermined message frame header fusion rule to form a fused PCIE frame header; The PCIE data message transmission module is used to generate the target PCIE data message based on the PCIE effective data payload and the fused PCIE frame header, and transmit the target PCIE data message to the data receiving node based on the PCIE link between the data sending node and the data receiving node.

10. A drone data interaction device, characterized in that: Applied to any one drone in a drone cluster, when the drone serves as a data receiving node, other drones in the drone cluster serve as data sending nodes, the drone data interaction device comprises: A PCIE data message receiving module, configured to receive a target PCIE data message transmitted by the data sending node through the data link layer of the data receiving node, wherein the data sending node is configured to generate a target IP data message through the network layer, and transmit the target IP data message to the data link layer, and determine the PCIE effective data load in the target PCIE data message to be generated based on the IP effective data load in the target IP data message, and fuse the IP frame header in the target IP data message into the PCIE frame header in the target PCIE data message to be generated based on a predetermined message frame header fusion rule to form a fused PCIE frame header, and generate the target PCIE data message based on the PCIE effective data load and the fused PCIE frame header, and transmit the target PCIE data message to the data receiving node based on the PCIE link between the data sending node and the data receiving node; A data message reconstruction module, configured to parse the target PCIE data message through the data link layer of the data receiving node to obtain the PCIE effective data payload and the fused PCIE frame header in the target PCIE data message, and to perform frame header reconstruction processing on the fused PCIE frame header based on the message frame header fusion rule to obtain a corresponding reconstructed IP frame header, and to generate a reconstructed IP data message based on the reconstructed IP frame header and the PCIE effective data payload; The data message processing module is used to obtain the reconstructed IP data message through the network layer of the data receiving node, and process the reconstructed IP data message using the IP protocol stack in the network layer.

11. A drone, characterized in that: include: Memory for storing computer programs; A processor connected to the memory, used to execute the computer program stored in the memory to implement the drone data interaction method described in any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is run, the drone data interaction method according to any one of claims 1 to 8 is executed.

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