Unmanned aerial vehicle nest communication method and device supporting audio and video hierarchical transmission based on ad hoc network

Abstract

The invention relates to an unmanned aerial vehicle nest communication method and device supporting audio and video hierarchical transmission based on an ad hoc network, and belongs to the field of unmanned aerial vehicle data transmission. The method comprises the steps of setting service priorities, judging whether received data belong to the device or not based on IDs in the received data, and if not, putting the received data into sending waiting queues with different service priorities according to service types; if yes, forwarding payload data in the received data to peripheral equipment of the device, receiving data of the peripheral equipment of the device at the same time, and putting the data into sending waiting queues with different service priorities according to service types; and when the transmitting time slot of the device arrives, the data which does not exceed the available bandwidth in the transmitting waiting queue is transmitted according to the service priority.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned aerial vehicle data transmission, and in particular relates to a method and device for unmanned aerial vehicle nest communication based on an ad hoc network and supporting audio and video hierarchical transmission. Background Art

[0002] Wireless ad hoc networks have the characteristics of self-organization, self-healing, and no central node. They support mesh networking, star networking, chain networking, and hybrid networking. Each node in the network is equal. When any node fails, other nodes can automatically establish new connections and new data routes. Therefore, wireless ad hoc networks have better network anti-destruction capabilities than traditional 4G and 5G communication networks, and are suitable for emergency communications in sudden disasters and remote areas.

[0003] Wireless ad hoc network devices can be deployed on ground personnel and vehicles during emergency deployment, or mounted by drones and deployed in the air to establish ad hoc network communication links between the ground and the air. Air-to-ground transmission can increase the transmission distance and expand the emergency communication range. The use of wireless ad hoc network technology to communicate with drone nests deployed outdoors, especially on transmission towers, can effectively solve communication problems in environments without public network coverage and realize remote drone inspection operation scheduling and control.

[0004] However, the existing ad hoc network communication system has many disadvantages when deployed between the operation center, the nest and the drone nodes. The high-speed movement of the drone causes the distance from the ground node to change dynamically. The increase in transmission distance causes the received signal strength (RSSI) to decrease and the signal-to-noise ratio (SNR) to deteriorate, which further leads to a significant decrease in wireless transmission performance. At the same time, the traditional ad hoc network adopts a unified transmission architecture, sharing the same channel for video, audio, data transmission and remote control data. When the overall network performance deteriorates, the data transmission demand exceeds the channel carrying limit, and all data are at risk of interruption, resulting in network communication interruption, and the transmission of the nest remote control and the drone flight control data is blocked, which may cause the drone to lose control. In addition, the existing technology fails to set priorities for different data types, and high-priority flight control and remote control data cannot be transmitted first when the network is congested. At the same time, the system is not adaptable enough to the differentiated needs of multiple types of drones, and it is difficult to take into account the transmission characteristics of rotary-wing drones and fixed-wing drones. In addition, under the condition of tight resources, there is a lack of intelligent bandwidth scheduling mechanism to ensure the reliable transmission of critical mission data. These problems seriously limit the communication efficiency and security of existing ad hoc networks. Summary of the invention

[0005] The purpose of the present invention is to provide a drone nest communication method and device based on a self-organizing network that supports audio and video hierarchical transmission, in order to address the problem that the transmission distance between aerial drone nodes and ground nodes in emergency communications changes, resulting in deterioration of wireless channel quality, which leads to deterioration of all data transmission performance of video, audio, digital transmission and remote control data under unified transmission. The wireless channel service types can be divided according to video, audio, digital transmission and remote control data, and different services have different priorities.

[0006] To achieve the above object, the technical solution of the present invention is: a drone nest communication method supporting audio and video hierarchical transmission based on an ad hoc network, comprising:

[0007] Set the service priority, and determine whether the received data belongs to the device according to the preset conditions. If not, put the received data into the sending waiting queue of different service priorities according to the service type; if so, forward the payload data in the received data to the peripheral device of the device, and receive the data of the peripheral device of the device at the same time, and put it into the sending waiting queue of different service priorities according to the service type;

[0008] When the transmission time slot of this device arrives, the data in the waiting queue that does not exceed the available bandwidth will be sent according to the service priority.

[0009] In one embodiment of the present invention, if new data enters the sending waiting queue, the unsent data in the previous transmission time slot of the device in the sending waiting queue is discarded.

[0010] In an embodiment of the present invention, the service priorities from high to low are: voice data service, narrowband data service, broadband data service.

[0011] In one embodiment of the present invention, the received data is obtained by preprocessing the received radio electromagnetic wave signal, filtering the radio electromagnetic wave signal to obtain a baseband signal, and then demodulating and decoding to obtain the payload data, ie, the received data.

[0012] In one embodiment of the present invention, the available bandwidth calculation formula is:

[0013] B avail =B freq log2(1+SNR)

[0014] Among them, B freq It indicates the current frequency bandwidth, and SNR indicates the signal-to-noise ratio.

[0015] In one embodiment of the present invention, the SNR calculation formula is:

[0016] SNR = 10log10(P signal / P noise )

[0017] Among them, P signal and P noise represent signal power and noise power respectively.

[0018] In one embodiment of the present invention, the device is based on a reference clock signal and is divided into different transmission time slots according to the time dimension. Each transmission time slot is divided into a protection sub-time slot, a voice data sub-time slot, a narrowband data sub-time slot, and a broadband data sub-time slot in sequence. The voice data sub-time slot, the narrowband data sub-time slot, and the broadband data sub-time slot correspond to the voice data, narrowband data, and broadband data in the sending waiting queue respectively. The device is based on a reference clock signal and is divided into different transmission time slots according to the time dimension. Each transmission time slot is divided into a protection sub-time slot, a voice data sub-time slot, a narrowband data sub-time slot, and a broadband data sub-time slot in sequence. The voice data sub-time slot, the narrowband data sub-time slot, and the broadband data sub-time slot correspond to the voice data, narrowband data, and broadband data in the sending waiting queue respectively; when allocating available bandwidth, the following conditions are met:

[0019] ΣB i ≤B avail

[0020] Among them, B i is the actual allocated bandwidth of the ith sub-time slot, B avail is the available bandwidth.

[0021] The present invention also provides a drone nest communication device supporting audio and video hierarchical transmission based on an ad hoc network, comprising:

[0022] The scheduling module determines whether the received data belongs to the device according to preset conditions. If not, the received data is placed in a sending waiting queue with different service priorities according to the service type; if so, the payload data in the received data is forwarded to the peripheral device of the device, and the data of the peripheral device of the device is received at the same time, and is placed in a sending waiting queue with different service priorities according to the service type;

[0023] The radio frequency module, when the transmission time slot of the device arrives, sends the data in the transmission waiting queue that does not exceed the available bandwidth according to the service priority.

[0024] In one embodiment of the present invention, the device further includes:

[0025] The main control module forwards the payload data in the received data to the peripheral device of the device through the communication interface module, and at the same time forwards the peripheral device data of the device received by the communication interface module to the scheduling module;

[0026] The scheduling module sets the service priority and determines whether the received data belongs to the device based on the ID in the received data. If not, the received data is placed in a sending waiting queue with different service priorities according to the service type; if so, the payload data in the received data is forwarded to the peripheral device of the device, and the data of the peripheral device of the device is received at the same time, and placed in a sending waiting queue with different service priorities according to the service type;

[0027] The radio frequency module, when the transmission time slot of the device arrives, sends the data in the transmission waiting queue that does not exceed the available bandwidth according to the service priority;

[0028] The baseband module demodulates and decodes the baseband signal obtained by filtering the radio electromagnetic wave signal received by the RF module to obtain the payload data, calculates the SNR based on the RSSI in the baseband signal, and transmits the payload data and SNR to the scheduling module; at the same time, the data transmitted by the scheduling module is transmitted to the RF module;

[0029] A communication interface module for communicating with peripheral devices of the device;

[0030] A clock module, providing a reference clock signal for the transmission time slot of the device;

[0031] The power module is used to supply power to each module of the entire device.

[0032] In one embodiment of the present invention, if new data enters the sending waiting queue, the unsent data in the previous transmission time slot of the device in the sending waiting queue is discarded.

[0033] In an embodiment of the present invention, the service priorities from high to low are: voice data service, narrowband data service, broadband data service.

[0034] In one embodiment of the present invention, the received data is payload data; wherein the payload data is obtained by demodulating and decoding a baseband signal, and the baseband signal is obtained by filtering a radio electromagnetic wave signal.

[0035] In one embodiment of the present invention, the available bandwidth calculation formula is:

[0036] B avail =B freq log2(1+SNR)

[0037] Among them, B freq It indicates the current frequency bandwidth, and SNR indicates the signal-to-noise ratio.

[0038] In one embodiment of the present invention, the SNR calculation formula is:

[0039] SNR = 10log10(P signal / P noise )

[0040] Among them, P signal and P noise represent signal power and noise power respectively.

[0041] In one embodiment of the present invention, the device is based on a reference clock signal and is divided into different transmission time slots according to the time dimension. Each transmission time slot is divided into a protection sub-time slot, a voice data sub-time slot, a narrowband data sub-time slot, and a broadband data sub-time slot in sequence. The protection sub-time slot adds guard interval data, and the voice data sub-time slot, the narrowband data sub-time slot, and the broadband data sub-time slot correspond to the voice data, narrowband data, and broadband data in the sending waiting queue respectively; when allocating available bandwidth, the following conditions are met:

[0042] ΣB i ≤B avail

[0043] Among them, B i is the actual allocated bandwidth of the ith sub-time slot, B avail is the available bandwidth.

[0044] The present invention also provides a computer-readable storage medium, on which computer program instructions that can be executed by a processor are stored. When the processor executes the computer program instructions, the method steps described above can be implemented.

[0045] The present invention also provides an electronic device, comprising a memory, a processor, and one or more computer program instructions stored in the memory and capable of being executed by the processor. When the processor executes the one or more computer program instructions, the method steps described above can be implemented.

[0046] Compared with the prior art, the present invention has the following beneficial effects: the present invention adopts a time-division hierarchical scheduling method to classify and independently transmit different services, designs different priority services according to the importance of service data, and gives priority to sending high-priority services when the available bandwidth resources are insufficient due to the deterioration of the wireless channel. In the present invention, the service priorities are from high to low: voice service, narrowband data service (data transmission, remote control data), and video data. When the distance between the drone and the ground network node increases rapidly, resulting in the deterioration of the wireless channel quality, even if the video communication is interrupted, the voice service can still communicate normally, ensuring smooth basic information exchange at the front and back of the emergency scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a design diagram of the device module of the present invention.

[0048] Figure 2 Schematic diagram of time slot allocation for scheduling module.

[0049] Figure 3It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0050] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings.

[0051] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0052] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] The present invention provides a drone nest communication method supporting audio and video hierarchical transmission based on an ad hoc network, comprising:

[0054] Set the service priority, and determine whether the received data belongs to the device according to preset conditions (including based on the ID in the received data). If not, put the received data into the sending waiting queue of different service priorities according to the service type; if so, forward the payload data in the received data to the peripheral device of the device, and receive the data of the peripheral device of the device at the same time, and put it into the sending waiting queue of different service priorities according to the service type;

[0055] When the transmission time slot of the device arrives, the data in the transmission waiting queue that does not exceed the available bandwidth is sent according to the service priority.

[0056] If new data enters the sending waiting queue, the unsent data in the previous transmitting time slot of this device in the sending waiting queue is discarded.

[0057] The service priorities from high to low are: voice data service, narrowband data service, and broadband data service.

[0058] The received data is obtained by preprocessing the received radio electromagnetic wave signal, filtering the radio electromagnetic wave signal to obtain a baseband signal, and then demodulating and decoding to obtain the payload data, that is, the received data.

[0059] The formula for calculating available bandwidth is:

[0060] B avail =B freq log2(1+SNR)

[0061] Among them, B freq It indicates the current frequency bandwidth, and SNR indicates the signal-to-noise ratio.

[0062] The SNR calculation formula is:

[0063] SNR = 10log10(P signal / P noise )

[0064] Among them, P signal and P noise represent signal power and noise power respectively.

[0065] Based on the reference clock signal, the device is divided into different transmission time slots according to the time dimension. Each transmission time slot is divided into a protection sub-time slot, a voice data sub-time slot, a narrowband data sub-time slot, and a broadband data sub-time slot in sequence. The voice data sub-time slot, the narrowband data sub-time slot, and the broadband data sub-time slot correspond to the voice data, narrowband data, and broadband data in the sending waiting queue respectively. Based on the reference clock signal, the device is divided into different transmission time slots according to the time dimension. Each transmission time slot is divided into a protection sub-time slot, a voice data sub-time slot, a narrowband data sub-time slot, and a broadband data sub-time slot in sequence. The voice data sub-time slot, the narrowband data sub-time slot, and the broadband data sub-time slot correspond to the voice data, narrowband data, and broadband data in the sending waiting queue respectively; when allocating available bandwidth, the following conditions are met:

[0066] ΣB i ≤B avail

[0067] Among them, B i is the actual allocated bandwidth of the ith sub-time slot, B avail is the available bandwidth.

[0068] The present invention also provides a drone nest communication device supporting audio and video hierarchical transmission based on an ad hoc network, comprising:

[0069] The scheduling module determines whether the received data belongs to the device according to preset conditions. If not, the received data is placed in a sending waiting queue with different service priorities according to the service type; if so, the payload data in the received data is forwarded to the peripheral device of the device, and the data of the peripheral device of the device is received at the same time, and is placed in a sending waiting queue with different service priorities according to the service type;

[0070] The radio frequency module, when the transmission time slot of the device arrives, sends the data in the transmission waiting queue that does not exceed the available bandwidth according to the service priority.

[0071] In one embodiment of the present invention, the device further includes:

[0072] The main control module forwards the payload data in the received data to the peripheral device of the device through the communication interface module, and at the same time forwards the peripheral device data of the device received by the communication interface module to the scheduling module;

[0073] The scheduling module sets the service priority and determines whether the received data belongs to the device based on the ID in the received data. If not, the received data is placed in a sending waiting queue with different service priorities according to the service type; if so, the payload data in the received data is forwarded to the peripheral device of the device, and the data of the peripheral device of the device is received at the same time, and placed in a sending waiting queue with different service priorities according to the service type;

[0074] The radio frequency module, when the transmission time slot of the device arrives, sends the data in the transmission waiting queue that does not exceed the available bandwidth according to the service priority;

[0075] The baseband module demodulates and decodes the baseband signal obtained by filtering the radio electromagnetic wave signal received by the RF module to obtain the payload data, calculates the SNR based on the RSSI in the baseband signal, and transmits the payload data and SNR to the scheduling module; at the same time, the data transmitted by the scheduling module is transmitted to the RF module;

[0076] A communication interface module for communicating with peripheral devices of the device;

[0077] A clock module, providing a reference clock signal for the transmission time slot of the device;

[0078] The power module is used to supply power to each module of the entire device.

[0079] If new data enters the sending waiting queue, the unsent data in the previous transmitting time slot of this device in the sending waiting queue is discarded.

[0080] The service priorities from high to low are: voice data service, narrowband data service, and broadband data service.

[0081] The received data is payload data; wherein the payload data is obtained by demodulating and decoding a baseband signal, and the baseband signal is obtained by filtering a radio electromagnetic wave signal.

[0082] The formula for calculating available bandwidth is:

[0083] B avail =B freq log2(1+SNR)

[0084] Among them, B freq It indicates the current frequency bandwidth, and SNR indicates the signal-to-noise ratio.

[0085] The SNR calculation formula is:

[0086] SNR = 10log10(P signal / P noise )

[0087] Among them, P signal and P noise represent signal power and noise power respectively.

[0088] Based on the reference clock signal, the device is divided into different transmission time slots according to the time dimension. Each transmission time slot is divided into a protection sub-time slot, a voice data sub-time slot, a narrowband data sub-time slot, and a broadband data sub-time slot in sequence. The protection sub-time slot adds the protection interval data. The voice data sub-time slot, the narrowband data sub-time slot, and the broadband data sub-time slot correspond to the voice data, narrowband data, and broadband data in the sending waiting queue respectively. When allocating the available bandwidth, the following conditions are met:

[0089] ΣB i ≤B avail

[0090] Among them, B i is the actual allocated bandwidth of the ith sub-time slot, B avail is the available bandwidth.

[0091] The following is the specific implementation process of the present invention.

[0092] like Figure 1 As shown, the present invention is a drone nest communication device based on a self-organizing network supporting audio and video hierarchical transmission, which includes the following modules: a main control module, a scheduling module, a baseband module, a radio frequency module, a clock module, a communication interface module, and a power supply module.

[0093] The main control module is responsible for the data interaction management between all modules, the control of other modules, and the update and maintenance of network routing information. The scheduling module works in a time-division mode and is responsible for packaging and processing the data to be sent according to the transmission protocol, unpacking the received data, managing the matching of data and bandwidth resources, and managing the priority of different types of data transmission. The baseband module encodes and modulates the transmitted data, decodes and demodulates the received data, and calculates the RSSI (received signal strength) and SNR (signal-to-noise ratio) based on the received data. The RF module is responsible for the conversion between baseband data and electromagnetic wave signals. The clock module is responsible for providing reference clock signals for other modules, and the communication interface module is responsible for data communication with peripheral devices. The power module provides power for the hardware board.

[0094] The scheduling module is the core module of the device of the present invention. This module sends different types of data in a time-division manner and manages the priority of different data to ensure the reliability of system communication when the channel quality deteriorates. Figure 2As shown, the scheduling module obtains the reference clock signal from the clock module, divides the transmission resources into different time slots according to the time dimension, and divides its own time slots into protection sub-time slots, voice data sub-time slots, narrowband data sub-time slots, and broadband data sub-time slots. According to the unique network ID distributed by the system, the scheduling module matches the data packet to the sub-time slot corresponding to its own ID.

[0095] The scheduling module allocates the channel signal-to-noise ratio (SNR) and the current frequency bandwidth B. freq Calculate the actual available bandwidth B avail :

[0096] B avail =B freq log2(1+SNR)

[0097] The voice sub-time slot carries the voice signal, and the data flow is 10≤R voice ≤100kbps range; narrowband data sub-time slots carry drone data transmission and remote control data, and data flow is 10≤R narrow ≤100kbps range; broadband data sub-time slot carries video data, data flow supports 100≤R broad ≤5000kbps range.

[0098] The priority of scheduling data is from high to low: voice data sub-time slot, narrowband data sub-time slot, broadband data sub-time slot. For each sub-time slot, the scheduling module meets the following constraints when allocating bandwidth:

[0099] ΣB i ≤B avail

[0100] Among them, B i is the actual allocated bandwidth of the ith sub-time slot.

[0101] The scheduling module is based on B avail Voice data, narrowband data (data transmission, remote control data), and video data are placed in order of priority to ensure that the transmission requirements of high-priority data are met first. For example, voice data bandwidth allocation is prioritized to meet:

[0102] B voice =min(B avail ,R voice )

[0103] Other types of data are allocated in turn until the bandwidth is exhausted or all transmission needs are met.

[0104] like Figure 3 As shown, the overall process of the drone nest communication method supporting audio and video hierarchical transmission based on an ad hoc network of the present invention is as follows:

[0105] The radio frequency module in the device of the present invention receives the radio electromagnetic wave signal, filters the electromagnetic wave signal, converts the electromagnetic wave into a baseband signal and transmits it to the baseband module. The baseband module demodulates and decodes the baseband signal to obtain the payload data, detects the RSSI in the baseband signal to calculate the SNR, and transmits the payload data and SNR to the scheduling module.

[0106] The formula for calculating SNR is:

[0107] SNR = 10log10(P signal / P noise )

[0108] Among them, P signal and P noise represent signal power and noise power respectively.

[0109] The scheduling module calculates the current available bandwidth resources based on the received SNR and the current frequency bandwidth, which is used as a reference for sending services of different priorities.

[0110] The formula for calculating available bandwidth resources is:

[0111] B avail =B freq log2(1+SNR)

[0112] Among them, B freq It indicates the current frequency bandwidth, and SNR indicates the signal-to-noise ratio.

[0113] The scheduling module processes the data received from the baseband module and checks whether the ID belongs to the device. If it does not belong to the device, the data packet is directly placed in the sending waiting queue, and is placed in the voice data queue, narrowband data queue, and broadband data queue according to the service type. If the data received from the baseband module belongs to the device, the payload data is obtained and transmitted to the main control module.

[0114] The main control module forwards the data transmitted by the scheduling module to the communication interface module, and the communication interface module forwards the data to the peripheral device. The communication interface module receives data from the peripheral device and transmits the data to the main control module, which forwards the data to the scheduling module. The scheduling module puts different service type data into the voice data queue, narrowband data queue, and broadband data queue according to the data type.

[0115] The scheduling module detects whether it has reached its transmission time slot based on the reference clock signal of the clock module. Before the transmission time slot arrives, it calculates whether the bandwidth requirement for sending data is met based on the current available bandwidth resources. Define available bandwidth B avail , the bandwidth requirement for sending data is B required, the bandwidth judgment conditions are:

[0116] B avail ≥B required

[0117] When the bandwidth is sufficient, the scheduling module transmits the voice data, narrowband data (data transmission, remote control data), and video data in the queue to the baseband module. According to the priority, the sending order is as follows:

[0118] Priority: Voice data > Narrowband data > Broadband data

[0119] If the bandwidth is insufficient, define the total data bandwidth in the current sending waiting queue as B total , the excess is:

[0120] B excess =B total -B avail

[0121] If B total >B avail , the data exceeding the bandwidth will not be sent.

[0122] If new data enters the queue next time, the data that was not sent last time will be discarded to ensure that the latest data is sent in time. The baseband module receives data from the scheduling module, adds protection interval data to the protection sub-time slot, and encodes and modulates the voice data, narrowband data, and video data. For each time slot, the total length of the data after adding the protection interval is:

[0123] L total =L data +L guard

[0124] Where L data is the net data length, L guard The baseband module outputs the baseband signal and transmits it to the RF module, which processes the baseband channel into an electromagnetic wave signal of the working frequency band and sends it through the antenna.

[0125] The present invention also provides a computer-readable storage medium, on which computer program instructions that can be executed by a processor are stored. When the processor executes the computer program instructions, the method steps described above can be implemented.

[0126] The present invention also provides an electronic device, comprising a memory, a processor, and one or more computer program instructions stored in the memory and capable of being executed by the processor. When the processor executes the one or more computer program instructions, the method steps described above can be implemented.

[0127] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0131] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A drone nest communication method based on ad hoc network supporting audio and video hierarchical transmission, characterized in that: include: Set the service priority, and determine whether the received data belongs to the device according to the preset conditions. If not, put the received data into the sending waiting queue of different service priorities according to the service type; if so, forward the payload data in the received data to the peripheral device of the device, and receive the data of the peripheral device of the device at the same time, and put it into the sending waiting queue of different service priorities according to the service type; When the transmission time slot of this device arrives, the data in the waiting queue that does not exceed the available bandwidth will be sent according to the service priority.

2. According to claim 1, a drone nest communication method based on ad hoc network supporting audio and video hierarchical transmission is characterized in that: If new data enters the sending waiting queue, the unsent data in the previous transmitting time slot of this device in the sending waiting queue is discarded.

3. The drone nest communication method supporting audio and video hierarchical transmission based on ad hoc network according to claim 1 is characterized in that: The service priorities from high to low are: voice data service, narrowband data service, and broadband data service.

4. The drone nest communication method supporting audio and video hierarchical transmission based on ad hoc network according to claim 1 is characterized in that: The received data is payload data; wherein the payload data is obtained by demodulating and decoding a baseband signal, and the baseband signal is obtained by filtering a radio electromagnetic wave signal.

5. The drone nest communication method based on ad hoc network supporting audio and video hierarchical transmission according to claim 1, characterized in that: The formula for calculating available bandwidth is: B avail =B freq log2(1+SNR) Among them, B freq It indicates the current frequency bandwidth, and SNR indicates the signal-to-noise ratio.

6. The drone nest communication method supporting audio and video hierarchical transmission based on ad hoc network according to claim 5 is characterized in that: The SNR calculation formula is: SNR=10log10(P signal / P noise ) Among them, P signal and P noise represent signal power and noise power respectively.

7. The drone nest communication method supporting audio and video hierarchical transmission based on ad hoc network according to claim 1, characterized in that: Based on the reference clock signal, the device is divided into different transmission time slots according to the time dimension. Each transmission time slot is divided into a protection sub-time slot, a voice data sub-time slot, a narrowband data sub-time slot, and a broadband data sub-time slot in sequence. The protection sub-time slot adds the protection interval data. The voice data sub-time slot, the narrowband data sub-time slot, and the broadband data sub-time slot correspond to the voice data, narrowband data, and broadband data in the sending waiting queue respectively. When allocating the available bandwidth, the following conditions are met: ΣB i ≤B avail Among them, B i is the actual allocated bandwidth of the ith sub-time slot, B avail is the available bandwidth.

8. A drone nest communication device based on a self-organizing network supporting audio and video hierarchical transmission, characterized in that: include: The scheduling module determines whether the received data belongs to the device according to preset conditions. If not, the received data is placed in a sending waiting queue with different service priorities according to the service type; if so, the payload data in the received data is forwarded to the peripheral device of the device, and the data of the peripheral device of the device is received at the same time, and is placed in a sending waiting queue with different service priorities according to the service type; The radio frequency module, when the transmission time slot of the device arrives, sends the data in the transmission waiting queue that does not exceed the available bandwidth according to the service priority.

9. The drone nest communication device supporting audio and video hierarchical transmission based on ad hoc network according to claim 8, characterized in that: Also includes: The main control module forwards the payload data in the received data to the peripheral device of the device through the communication interface module, and at the same time forwards the peripheral device data of the device received by the communication interface module to the scheduling module; The baseband module demodulates and decodes the baseband signal obtained by filtering the radio electromagnetic wave signal received by the RF module to obtain the payload data, calculates the SNR based on the RSSI in the baseband signal, and transmits the payload data and SNR to the scheduling module; at the same time, the data transmitted by the scheduling module is transmitted to the RF module; A communication interface module for communicating with peripheral devices of the device; A clock module, providing a reference clock signal for the transmission time slot of the device; The power module is used to supply power to each module of the entire device.

10. The drone nest communication device supporting audio and video hierarchical transmission based on ad hoc network according to claim 8, characterized in that: If new data enters the sending waiting queue, the unsent data in the previous transmitting time slot of this device in the sending waiting queue is discarded.

11. The drone nest communication device supporting audio and video hierarchical transmission based on ad hoc network according to claim 8, characterized in that: The service priorities from high to low are: voice data service, narrowband data service, and broadband data service.

12. The drone nest communication device supporting audio and video hierarchical transmission based on ad hoc network according to claim 8, characterized in that: The received data is payload data; wherein the payload data is obtained by demodulating and decoding a baseband signal, and the baseband signal is obtained by filtering a radio electromagnetic wave signal.

13. The drone nest communication device supporting audio and video hierarchical transmission based on ad hoc network according to claim 8, characterized in that: The formula for calculating available bandwidth is: B avail =B freq log2(1+SNR) Among them, B freq It indicates the current frequency bandwidth, and SNR indicates the signal-to-noise ratio.

14. The drone nest communication device supporting audio and video hierarchical transmission based on ad hoc network according to claim 8, characterized in that: The formula for calculating available bandwidth is: The formula for calculating SNR is: SNR=10log10(P signal / P noise ) Among them, P signal and P noise represent signal power and noise power respectively.

15. A computer-readable storage medium storing computer program instructions that can be executed by a processor, wherein when the processor executes the computer program instructions, the method steps according to any one of claims 1 to 7 can be implemented.

16. An electronic device comprising a memory, a processor, and one or more computer program instructions stored in the memory and executable by the processor, wherein when the processor executes the one or more computer program instructions, the method steps described in any one of claims 1 to 7 can be implemented.

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