Unmanned aerial vehicle measurement and control data channel flow dynamic balance control method and related product
By calculating the proportion of data and weight in the drone measurement and control communication system, dynamic distribution bandwidth, solving the problem of data delay and peak data duration caused by uneven data type traffic of different loads. The delay of grade data and the avoidance of data loss.
Patent Information
- Application Number
- CN202411477192.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2025-01-21
AI Technical Summary
In the existing UAV measurement and control communication systems, the flow of different payload data types is uneven, resulting in data delay and a long duration of one or more peak data, resulting in the loss of other types of data.
By calculating the data proportion and weight proportion of each data during the preparation phase of the data formation, the total bandwidth of the joint allocation is to ensure that when the high priority data peaks, the low priority data can still obtain part of the bandwidth, reduce delay, and and and and of. After the peak, quickly return to normal delay.
When the peak of high priority data is achieved, the delay of low priority data is reduced, the loss of data is avoided, and the use of network bandwidth is optimized.
Smart Images
Figure CN119342532A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of unmanned aerial vehicle measurement and control communication technology, and more specifically, to a method for dynamically balancing flow of unmanned aerial vehicle measurement and control data channel and related products. Background Art
[0002] The UAV measurement, control and communication system is divided into airborne equipment and ground equipment. The airborne equipment sends downlink data frames at regular intervals, and the ground equipment sends uplink data frames at regular intervals. The airborne and ground equipment cooperate to complete the UAV telemetry, remote control and data transmission functions.
[0003] Medium and large UAVs generally carry a variety of payloads. During flight, the onboard equipment of the measurement and control communication link needs to transmit flight telemetry data (flight status information, link status data, etc.) and payload data (images, videos, voice, radar) to the ground equipment of the measurement and control link in real time, and distribute them to the various control seats of the ground control command station. The communication link is limited by the range and spectrum resources, and the existing technical routes generally have a fixed maximum transmission rate, and the maximum downlink rate bandwidth is often less than 8Mbps.
[0004] The existing transmission data allocation scheme is generally a fixed priority mode, which assigns a fixed priority to each data type. After each data is transmitted to the link airborne device, it is first stored in the data buffer, and then the data in each buffer is read in turn according to the data priority to fill it into the downlink data frame.
[0005] If the peak traffic of one or several high-priority data is high and the total rate is greater than or equal to the data link downlink rate bandwidth, the data in the buffer area of the lower-priority data type will have no free traffic to transmit. The possible situations are: 1. The buffer area of the low-priority data is full, and the subsequent data is partially or completely lost. 2. The high-priority data occupies the downlink bandwidth for a long time, and the low-priority data transmission delay is greatly increased, and the delay is unstable.
[0006] Therefore, the present application provides a method for dynamically balancing the flow of UAV measurement and control data channels and related products to solve the above problems. Summary of the invention
[0007] The purpose of this application is to provide a method for dynamically balancing the flow of UAV measurement and control data channels and related products to solve the problems of data delay caused by uneven flow of different payload data types in traditional UAVs and other types of data loss caused by the long duration of one or more peak data; this application calculates the data proportion and weight proportion of each type of data in the data framing preparation stage, and jointly allocates the total bandwidth according to the data proportion and weight proportion, so that when the data peak of a certain channel is very high, other channels can still be transmitted at the cost of a small amount of increased delay, and after the peak, all channel data quickly returns to a normal delay state.
[0008] The first aspect of the present application provides a method for dynamic balancing control of the flow of UAV measurement and control data channels, including: obtaining the amount of data to be transmitted and the weight of all channels in the data framing preparation stage; calculating the data ratio and weight ratio of each channel according to the amount of data to be transmitted and the weight of all channels in the data framing preparation stage; for all channels whose data ratio is lower than the weight ratio, allocating the total bandwidth according to the data ratio; for the remaining channels that have not been allocated bandwidth, allocating the remaining total bandwidth according to the weight ratio of the remaining channels.
[0009] By adopting the above technical solution, when the drone communicates, by analyzing the data proportion and weight proportion of each channel during drone communication, when the weight proportion is relatively high, the bandwidth is allocated according to the data proportion, and when the data proportion is relatively high, the bandwidth is allocated according to the weight proportion; based on the data proportion and weight proportion, the bandwidth allocation is flexibly calculated to ensure that low-priority data can still obtain part of the bandwidth when the high-priority data is at a peak, thereby reducing the delay of low-priority data; this allocation strategy helps to optimize the use of network bandwidth and can effectively avoid the problem of other types of data loss caused by the long duration of one or more peak data.
[0010] In a possible implementation, the weight of the channel data is determined according to the priority of the data type transmitted by the channel.
[0011] In a possible implementation, for all channels whose data proportion is lower than the weight proportion, the total bandwidth is allocated according to the data proportion; including: when the data proportion of the channel is k%, k% of the total bandwidth is allocated to the data of the channel.
[0012] In a possible implementation, for the remaining channels to which bandwidth has not been allocated, the remaining total bandwidth is allocated according to the weight ratios of the remaining channels; including: calculating the weight ratios of the remaining channels according to the weights of the remaining channels, calculating the remaining total bandwidth, and allocating the remaining total bandwidth according to the weight ratios of the remaining channels.
[0013] The second aspect of the present application provides a dynamic balancing control system for the flow of UAV measurement and control data channels, including: a data acquisition module, used to obtain the amount of data to be transmitted and the weight of all channels during the data framing preparation stage; a proportion calculation module, used to calculate the data proportion and weight proportion of each channel according to the amount of data to be transmitted and the weight of all channels during the data framing preparation stage; a primary allocation module, used to allocate the total bandwidth according to the data proportion for all channels whose data proportion is lower than the weight proportion; a secondary allocation module, used to allocate the remaining total bandwidth according to the weight proportion of the remaining channels to which bandwidth has not been allocated.
[0014] In a possible implementation, the data acquisition module is further configured to determine a weight of the channel data according to a priority of a data type transmitted by the channel.
[0015] In a possible implementation manner, the primary allocation module is specifically configured to allocate k% of the total bandwidth to the data of the channel when the data proportion of the channel is k%.
[0016] In a possible implementation, the secondary allocation module is specifically configured to calculate weight proportions of the remaining channels according to the weights of the remaining channels, calculate the remaining total bandwidth, and allocate the remaining total bandwidth according to the weight proportions of the remaining channels.
[0017] The third aspect of the present application provides a computer device, including: a memory, one or more processors, and the processor is used to execute a computer program or instruction stored in the memory so that the computer device executes the above-mentioned method for dynamic balancing control of the flow of UAV measurement and control data channel.
[0018] A fourth aspect of the present application provides a computer program product. When the computer program product is run on a computer device, the computer device executes the above-mentioned method for dynamic balancing control of the flow of UAV measurement and control data channels.
[0019] Compared with the prior art, the present application has the following beneficial effects: setting up a new allocation strategy, analyzing the data proportion and weight proportion of each channel during drone communication, and allocating bandwidth according to the data proportion when the weight proportion is relatively high, and allocating bandwidth according to the weight proportion when the data proportion is relatively high; flexibly calculating bandwidth allocation based on data proportion and weight proportion, even if the data peak of a channel is very high, other channels can still be transmitted at the cost of a small amount of increased delay, and all channel data will quickly return to normal delay state after the peak; ensuring that low-priority data can still obtain part of the bandwidth when the high-priority data peaks, reducing the delay of low-priority data; solving the data delay caused by uneven traffic of different payload data types of traditional drones and other types of data loss caused by the long duration of one or more peak data; can be widely used in the communication process of drone data link products. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:
[0021] Figure 1 A flow chart of a method for dynamically balancing the flow of UAV measurement and control data channels provided in an embodiment of the present application;
[0022] Figure 2 A structural diagram of a dynamic balancing control system for the flow of UAV measurement and control data channels provided in an embodiment of the present application;
[0023] Figure 3A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0024] Hereinafter, the term "include" or "may include" used in various embodiments of the present application indicates the existence of the function or operation applied for, and does not limit the increase of one or more functions or operations. In addition, as used in various embodiments of the present application, the terms "include", "have" and their cognates are intended only to represent specific features, numbers, steps, operations or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations or a combination of the foregoing items.
[0025] The terms used in the various embodiments of the application are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments of the application. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments of the application. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments of the application.
[0026] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with examples and drawings. The illustrative implementation scheme of the present application and its description are only used to explain the present application and are not intended to limit the present application.
[0027] See also Figure 1 As shown, Figure 1 A flow chart of a method for dynamically balancing the flow of data channels of drone measurement and control provided in an embodiment of the present application. The method includes: S1, obtaining the amount of data to be transmitted and the weight of all channels in the data framing preparation stage; S2, calculating the data proportion and weight proportion of each channel according to the amount of data to be transmitted and the weight of all channels in the data framing preparation stage; S3, allocating the total bandwidth according to the data proportion for all channels whose data proportion is lower than the weight proportion; S4, allocating the remaining total bandwidth according to the weight proportion of the remaining channels for which bandwidth has not been allocated.
[0028] Specifically, step S1 is to obtain the total amount of data to be transmitted on each channel and the priority of each channel data when the UAV measurement and control data is encapsulated into a frame suitable for network transmission; step S2 is to calculate the ratio of the amount of data to be transmitted on each channel to the total amount of data to be transmitted on all channels as the data share of the channel, and calculate the ratio of the weight of each channel to the sum of the weights of all channels as the weight share of the channel; through steps S3-S4, the data share and the weight share are compared as the dividing line. When the weight share is relatively high, the bandwidth is allocated according to the data share; when the data share is relatively high, the bandwidth is allocated according to the weight share.
[0029] It should be noted that if the data proportion of a channel is lower than its weight proportion, it means that the bandwidth requirement of the channel data in all channel data is less than its importance; if the data proportion of a channel is greater than its weight proportion, it means that the bandwidth requirement of the channel data in all channel data is greater than its importance.
[0030] In the traditional UAV data transmission process, simply allocating the total bandwidth according to the data volume will easily cause a long delay in the transmission of small-flow data when large-flow data is continuously transmitted at a peak value; simply allocating the total bandwidth according to priority will easily cause a long delay in the transmission of low-priority data when high-priority data is continuously transmitted at a peak value; even if the total bandwidth is allocated by scaling the data volume by data priority, it cannot solve the long delay problem of small-flow and low-priority data when high-priority large-flow data is continuously transmitted at a peak value. The above allocation strategy is likely to cause other types of data to be delayed too long or even lost when one or more types of peak data last for a long time.
[0031] Therefore, the improvement of this method lies in setting up a new allocation strategy, analyzing the data proportion and weight proportion of each channel during drone communication, and allocating bandwidth according to the data proportion when the weight proportion is relatively high, and allocating bandwidth according to the weight proportion when the data proportion is relatively high; flexibly calculating bandwidth allocation based on data proportion and weight proportion to ensure that relatively important channels can obtain sufficient bandwidth when the data volume is not large, and at the same time ensure that channels with large data traffic can also obtain reasonable bandwidth. This allocation strategy helps to optimize the use of network bandwidth and can effectively avoid the problem of other types of data loss caused by the long duration of one or more peak data.
[0032] In addition, the improvement of this method lies in setting allocation strategies for UAV link communication. UAVs generally use embedded devices, which often have small storage capacity. The data cache size of a single channel is usually small, which varies according to the device hardware, but generally will not exceed 100K. This scheme is set to perform traffic allocation once in each data framing preparation stage, which can effectively alleviate data cache pressure and reduce real-time data loss.
[0033] In a possible implementation manner, in S1 , the weight of the channel data is determined according to the priority of the data type transmitted by the channel.
[0034] Specifically, the data types transmitted by drones are first classified, such as real-time video, sensor data, control instructions, etc., and each type of data is assigned priority based on requirements such as the importance and timeliness of the data; then weights are designed according to the priorities, which can be dynamically calculated through algorithms or static weights can be set based on experience.
[0035] S2. Calculate the data proportion and weight proportion of each channel according to the amount of data to be transmitted and the weight of all channels in the data framing preparation stage;
[0036] Specifically, the data proportion of channel i = the data amount of channel i / the total data amount of all channels, and the weight proportion of channel i = the weight of channel i / the total weight of all channels.
[0037] In a possible implementation, S3, allocating total bandwidth according to data proportion for all channels whose data proportion is lower than weight proportion; including: when the data proportion of the channel is k%, allocating k% of the total bandwidth to the data of the channel.
[0038] Specifically, for each channel, compare its data ratio with its weight ratio. If the data ratio is lower than the weight ratio, it can be considered that the bandwidth demand of the channel is low. For all channel data with low bandwidth demand, choose to allocate the total bandwidth according to the data ratio. That is, if the data ratio of a channel is k%, then k% of the total bandwidth will be allocated for transmission. This step can ensure that relatively important channels can obtain sufficient bandwidth even when the data volume is not large.
[0039] In a possible implementation, S4, for the remaining channels to which bandwidth has not been allocated, allocating the remaining total bandwidth according to the weight ratios of the remaining channels; including: calculating the weight ratios of the remaining channels according to the weights of the remaining channels, calculating the remaining total bandwidth, and allocating the remaining total bandwidth according to the weight ratios of the remaining channels.
[0040] Specifically, for the remaining channels, that is, channels whose data ratio is not higher than the weight ratio, it can be considered that the bandwidth demand of the channel is high. In order to avoid such data from continuously occupying a large amount of transmission bandwidth, the remaining total bandwidth is allocated according to the weight ratio of the remaining channels. That is, the weight ratio of the remaining channel s = the weight of the remaining channel s / the total weight of all the remaining channels, the remaining total bandwidth = the total bandwidth - the allocated bandwidth. If the data ratio of a remaining channel is s%, then s% of the remaining total bandwidth will be allocated for transmission. This step can ensure that large traffic data does not occupy the bandwidth for a long time.
[0041] It is understandable that when drones communicate, by defining different priorities for various types of data and comprehensively allocating bandwidth according to data traffic size and priority, even if the data peak of a certain channel is very high, other channels can still be transmitted at the cost of a small amount of increased delay, and all channel data will quickly return to normal delay state after the peak; ensure that low-priority data can still obtain part of the bandwidth when high-priority data peaks, reducing the delay of low-priority data; solve the data delay caused by uneven traffic of different payload data types of traditional drones and other types of data loss caused by the long duration of one or more peak data.
[0042] See also Figure 2 As shown, Figure 2 The structural diagram of the dynamic balanced control system of the data channel flow of the drone measurement and control is provided for the embodiment of the present application. The system includes: a data acquisition module, which is used to obtain the amount of data to be transmitted and the weight of all channels during the data framing preparation stage; a proportion calculation module, which is used to calculate the data proportion and weight proportion of each channel according to the amount of data to be transmitted and the weight of all channels during the data framing preparation stage; a primary allocation module, which is used to allocate the total bandwidth according to the data proportion for all channels whose data proportion is lower than the weight proportion; a secondary allocation module, which is used to allocate the remaining total bandwidth according to the weight proportion of the remaining channels for which bandwidth has not been allocated.
[0043] In a possible implementation, the data acquisition module is further configured to determine the weight of the channel data according to the priority of the data type transmitted by the channel.
[0044] In a possible implementation manner, the primary allocation module is specifically configured to allocate k% of the total bandwidth to the data of the channel when the data proportion of the channel is k%.
[0045] In a possible implementation, the secondary allocation module is specifically configured to calculate the weight ratios of the remaining channels according to the weights of the remaining channels, calculate the remaining total bandwidth, and allocate the remaining total bandwidth according to the weight ratios of the remaining channels.
[0046] It can be understood that the UAV measurement and control data channel flow dynamic balancing control system is used to implement the above-mentioned UAV measurement and control data channel flow dynamic balancing control method, which corresponds one-to-one with the above-mentioned UAV measurement and control data channel flow dynamic balancing control method and has corresponding effects, so it will not be elaborated on.
[0047] See also Figure 3 As shown, Figure 3 This is a structural diagram of a computer device provided in an embodiment of the present application. The computer device is usually a server, which is specifically used to implement Figure 1The corresponding embodiment provides a method for dynamically balancing the flow of the drone measurement and control data channel; the computer device 300 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 322 (for example, one or more processors) and a memory 332, and one or more storage media 330 (for example, one or more mass storage devices) storing application programs 342 or data 344. Among them, the memory 332 and the storage medium 330 can be short-term storage or permanent storage. The program stored in the storage medium 330 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the computer device. Furthermore, the central processing unit 322 can be configured to communicate with the storage medium 330 to execute a series of instruction operations in the storage medium 330 on the computer device 300.
[0048] The computer device 300 may also include one or more power supplies 326, one or more wired or wireless network interfaces 350, one or more input and output interfaces 358, and / or one or more operating systems 341, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.
[0049] In the embodiment of the present application, the central processor 322 can be used to execute Figure 1 The corresponding embodiment provides a method for dynamically balancing the flow of UAV measurement and control data channels.
[0050] The present application also provides a computer program product, which, when executed on a computer device, enables the computer device to execute Figure 1 The corresponding embodiment provides a method for dynamically balancing the flow of UAV measurement and control data channels.
[0051] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A method for dynamically balancing the flow of UAV measurement and control data channels, characterized in that: include: Obtain the amount of data to be transmitted and the weight of all channels during the data framing preparation stage; The data proportion and weight proportion of each channel are calculated according to the amount of data to be transmitted and the weight of all channels in the data framing preparation stage; For all channels whose data ratio is lower than the weight ratio, the total bandwidth is allocated according to the data ratio; For the remaining channels that have not been allocated bandwidth, the remaining total bandwidth is allocated according to the weight ratio of the remaining channels.
2. The method for dynamic balancing control of the flow of the UAV measurement and control data channel according to claim 1 is characterized in that: The weight of the channel data is determined according to the priority of the data type transmitted by the channel.
3. The method for dynamic balancing control of the flow of the UAV measurement and control data channel according to claim 1 is characterized in that: For all channels whose data proportion is lower than the weight proportion, the total bandwidth is allocated according to the data proportion; including: when the data proportion of the channel is k%, k% of the total bandwidth is allocated to the data of the channel.
4. The method for dynamic balancing control of the flow of the UAV measurement and control data channel according to claim 1 is characterized in that: For the remaining channels to which bandwidth has not been allocated, the remaining total bandwidth is allocated according to the weight ratios of the remaining channels; including: calculating the weight ratios of the remaining channels according to the weights of the remaining channels, calculating the remaining total bandwidth, and allocating the remaining total bandwidth according to the weight ratios of the remaining channels.
5. The dynamic balance control system for the flow of UAV measurement and control data channel is characterized by: include: A data acquisition module is used to obtain the amount and weight of data to be transmitted of all channels during the data framing preparation stage; The proportion calculation module is used to calculate the data proportion and weight proportion of each channel according to the amount of data to be transmitted and the weight of all channels in the data framing preparation stage; A one-time allocation module is used to allocate total bandwidth according to the data ratio for all channels whose data ratio is lower than the weight ratio; The secondary allocation module is used to allocate the remaining total bandwidth to the remaining channels that have not been allocated bandwidth according to the weight ratio of the remaining channels.
6. The unmanned aerial vehicle measurement and control data channel flow dynamic balance control system according to claim 5 is characterized in that: The data acquisition module is further used to determine the weight of the channel data according to the priority of the data type transmitted by the channel.
7. The unmanned aerial vehicle measurement and control data channel flow dynamic balance control system according to claim 5 is characterized in that: The primary allocation module is specifically used to allocate k% of the total bandwidth to the data of the channel when the data proportion of the channel is k%.
8. The unmanned aerial vehicle measurement and control data channel flow dynamic balance control system according to claim 5 is characterized in that: The secondary allocation module is specifically used to calculate the weight ratio of the remaining channels according to the weights of the remaining channels, calculate the remaining total bandwidth, and allocate the remaining total bandwidth according to the weight ratio of the remaining channels.
9. A computer device, characterized in that: include: A memory, one or more processors, wherein the processor is used to execute a computer program or instruction stored in the memory so that the computer device executes the method for dynamic balancing control of the flow of the UAV measurement and control data channel as described in any one of claims 1-4.
10. A computer program product, characterized in that When the computer program product runs on a computer device, the computer device executes the method for dynamic balancing control of the flow of the UAV measurement and control data channel as described in any one of claims 1 to 4.