A method, system and device for data transmission control of multiple positioning channels

Abstract

The application discloses a kind of multi-positioning channel data transmission control method, system and equipment, related to multi-channel data collaborative transmission related field, method includes: when control module opens positioning channel, transmission end positioning channel virtual connection sets positioning channel virtual connection module, and multiple positioning channels are virtually connected by connection module according to periodic signal;Periodic acquisition is carried out to obtain channel state data, positioning data packet to be transmitted;According to the positioning error propagation analysis of channel state to the positioning data to be transmitted, calculate transmission urgency;Transmission sequencing constructs multi-channel priority transmission queue, generates time slot allocation instruction for dynamic joint scheduling;Match sending to multiple positioning channels carries out data transmission control, and channel state data is updated in real time.The present application solves the problem that existing multi-positioning channel data transmission control cannot adaptively adjust transmission process according to the dynamic change of channel actual transmission state and data packet characteristics.

Description

Technical Field

[0001] This application relates to the field of multi-channel data collaborative transmission, and in particular to a data transmission control method, system and device for multiple positioning channels. Background Technology

[0002] With the deep integration of communication and positioning technologies, parallel transmission across multiple positioning channels has become a crucial way to improve the throughput and real-time performance of positioning data, playing an increasingly vital role in applications such as industrial automation, unmanned system navigation, and emergency search and rescue. Currently, for data transmission control across multiple positioning channels, the industry generally adopts static priority scheduling or polling scheduling mechanisms based on a first-in-first-out queue. This involves allocating fixed transmission time slots and resource quotas to each positioning channel based on the channel number or the order in which data packets arrive, combined with cyclic redundancy check and acknowledgment retransmission mechanisms to ensure data transmission reliability. However, this scheduling method is limited by its fixed resource allocation strategy and lacks consideration of the inter-channel relationships. When faced with dynamic changes in the number of positioning channels or uneven transmission loads across channels, it is prone to decreased transmission resource utilization and increased latency in the transmission of some data packets.

[0003] At present, the data transmission control of multi-positioning channels has the technical problem of being unable to adaptively adjust the transmission process according to the dynamic changes in the actual transmission status of the channel and the characteristics of the data packets themselves. Summary of the Invention

[0004] This application provides a data transmission control method, system, and device for multiple positioning channels. Through a control module, it sequentially executes techniques such as establishing virtual connections between positioning channels, acquiring periodic pulse signals and generating signal sets, calculating the urgency of data packet transmission based on channel status, constructing multi-channel priority transmission queues and generating time slot allocation instructions, and issuing time slot allocation instructions and updating channel status. This solves the technical problem of existing multi-positioning channel data transmission control methods failing to adaptively adjust the transmission process based on dynamic changes in the actual channel transmission status and the characteristics of the data packets themselves. It achieves the technical effect of adaptively adjusting the transmission process based on dynamic changes in the actual channel transmission status and the characteristics of the data packets themselves.

[0005] This application provides a data transmission control method for multiple positioning channels, comprising: when the control module activates a positioning channel, the transmission end sets a positioning channel virtual connection module, and virtually connects multiple positioning channels according to a periodic electrical signal through the channel virtual connection module; periodically acquires data based on the multiple positioning channels to obtain a pulse signal set, the pulse signal set including channel status data and positioning data packets to be transmitted; performs positioning error propagation analysis on the positioning data packets to be transmitted according to the channel status data, and calculates the urgency of data packet transmission; sorts the data packets according to the urgency of transmission and the multiple positioning channels to construct a multi-channel priority transmission queue, performs dynamic joint scheduling according to the multi-channel priority transmission queue, and generates a time slot allocation instruction; and sends the time slot allocation instruction to the multiple positioning channels for data transmission control, and updates the channel status data in real time.

[0006] In a possible implementation, multiple positioning channels are virtually connected according to periodic electrical signals via a channel virtual connection module, and the following processes are performed: The positioning channel virtual connection module performs feature analysis on the periodic electrical signals to obtain periodic feature parameters, and determines the virtual connection synchronization timing based on the periodic feature parameters; based on the synchronization timing, the positioning channel virtual connection module performs pulse analysis on the periodic electrical signals to generate multiple periodic virtual link control pulse parameters; the multiple periodic virtual link control pulse parameters are applied one by one to the multiple initial positioning channels according to the periodic acquisition timing to construct a channel virtual connection; the connection status of the multiple initial positioning channels is confirmed according to the channel virtual connection, and the multiple positioning channels are determined based on the connection confirmation result.

[0007] In a possible implementation, the step of periodically acquiring pulse signal sets based on the multiple positioning channels involves the following processing: setting up a periodic electrical signal pulse acquisition module, which synchronously triggers the multiple positioning channels to acquire pulse signals according to the acquisition cycle, obtaining pulse signal amplitudes for multiple cycles; performing pulse sampling matching according to the multiple positioning channels based on the pulse signal amplitudes for the multiple cycles, determining the original pulse sampling values ​​for the multiple positioning channels; tracing the multiple positioning channels through the periodic electrical signal pulse sampling module to locate the sources of the multiple pulse signals; and converging and sorting the original pulse sampling values ​​of the multiple positioning channels according to the sources of the multiple pulse signals to generate the pulse signal set.

[0008] In a possible implementation, the pulse signal set includes channel status data and a positioning data packet to be transmitted, and performs the following processing: parsing the original pulse sampling values ​​of multiple positioning channels using the periodic electrical signal pulse acquisition module to extract a first signal component and a second signal component; mapping the first signal component to the multiple positioning channels for connection analysis to obtain virtual link status parameters of the multiple positioning channels, the virtual link status parameters including the amplitude of the first signal component; determining the channel status of the multiple positioning channels according to the amplitude of the first signal component to determine whether the multiple positioning channels are in a virtual link state, and adding the determination result to the channel status data; mapping the second signal component to the multiple positioning channels for positioning bearer analysis to obtain the pulse sequence pattern of the multiple positioning channels; demodulating according to the pulse sequence pattern of the multiple positioning channels to generate a positioning data packet to be transmitted.

[0009] In a possible implementation, the positioning error propagation analysis is performed on the positioning data packet to be transmitted according to the channel status data to calculate the urgency of data packet transmission, and the following processing is performed: The multiple positioning channels are used as topology nodes, and the virtual connection relationships between the multiple positioning channels are used as topology edges to construct a virtual connection topology graph of the multiple positioning channels; the positioning data packet to be transmitted is mapped to the virtual connection topology graph to determine the source node position; the source node position is used as the starting point to traverse the virtual connection topology graph for identification, and a topology node sequence is determined; the topology node sequence is connected to construct an error propagation path; the error propagation path is traversed to record the node hop count, generating error propagation level depth data; the cumulative impact analysis of data error is performed based on the error propagation level depth data to calculate the urgency of data packet transmission.

[0010] In a possible implementation, the data packets are sorted according to their transmission urgency and the multiple positioning channels to construct a multi-channel priority transmission queue. The following processes are then performed: the positioning data packets to be transmitted are arranged in descending order according to their transmission urgency to generate an initial sorting list; it is determined whether there are positioning data packets with equal transmission urgency in the initial sorting list; if there are positioning data packets with equal transmission urgency, these packets are extracted; target channel status data, including channel buffer occupancy rate, is extracted based on these packets according to the multiple positioning channels; and a secondary sort is performed on the positioning data packets with equal urgency based on the channel buffer occupancy rate to generate the multi-channel priority transmission queue.

[0011] In a possible implementation, the positioning data packets with equal urgency are sorted a second time based on the channel buffer occupancy rate to generate the multi-channel priority transmission queue, and the following processing is performed: it is determined whether there are any positioning data packets with equal channel buffer occupancy rates among the second-sorted positioning data packets; if there are, channel signal quality indicators are extracted based on the positioning data packets with equal channel buffer occupancy rates, and the channel signal quality indicators correspond to multiple positioning channels; the positioning data packets with equal channel buffer occupancy rates are sorted a third time according to the channel signal quality indicators from high to low to generate the multi-channel priority transmission queue.

[0012] In a possible implementation, dynamic joint scheduling is performed according to the multi-channel priority transmission queue to generate time slot allocation instructions, and the following processes are executed: reading the order data of the positioning data packets to be transmitted in the multi-channel priority transmission queue; performing scheduling analysis on the positioning data packets to be transmitted according to the order data, and setting the scheduling priority of multiple positioning channels; allocating time slot resources to the multiple positioning channels according to the scheduling priority of the multiple positioning channels, and determining the time slot quantity allocation parameters of the multiple positioning channels; identifying the start and end timing of the time slots based on the time slot quantity allocation parameters of the multiple positioning channels, and generating multiple time slot allocation instructions; and scheduling and packaging the multiple time slot allocation instructions according to the multiple positioning channels to construct a time slot allocation instruction.

[0013] This application also provides a data transmission control system for multiple positioning channels, comprising: a virtual connection establishment module, used to set up a virtual connection module for positioning channels at the transmission end when the control module opens a positioning channel, and to virtually connect multiple positioning channels according to a periodic electrical signal through the virtual connection module; a periodic signal acquisition module, used to periodically acquire data based on the multiple positioning channels to obtain a pulse signal set, the pulse signal set including channel status data and positioning data packets to be transmitted; a urgency analysis module, used to perform positioning error propagation analysis on the positioning data packets to be transmitted according to the channel status data, and calculate the urgency of data packet transmission; a scheduling and time slot allocation module, used to sort the transmission according to the urgency of data packet transmission and the multiple positioning channels, construct a multi-channel priority transmission queue, perform dynamic joint scheduling according to the multi-channel priority transmission queue, and generate a time slot allocation instruction; and an instruction issuance and status update module, used to send the time slot allocation instruction to the multiple positioning channels for data transmission control, and update the channel status data in real time.

[0014] This application also provides an electronic device, including: a memory for storing executable instructions; and a processor for implementing a data transmission control method for multiple positioning channels when executing the executable instructions stored in the memory.

[0015] This application proposes a data transmission control method, system, and device for multiple positioning channels. First, when the control module activates a positioning channel, a virtual connection module is set up at the transmission end to virtually connect multiple positioning channels using periodic electrical signals. Then, periodic acquisition is performed based on these multiple positioning channels to obtain a pulse signal set. This pulse signal set includes channel status data and positioning data packets to be transmitted. Next, positioning error propagation analysis is performed on the positioning data packets to be transmitted based on the channel status data to calculate the urgency of data packet transmission. Then, based on the urgency of data packet transmission and the multiple positioning channels, transmission is prioritized to construct a multi-channel priority transmission queue. Dynamic joint scheduling is performed according to the multi-channel priority transmission queue to generate time slot allocation instructions. Finally, the time slot allocation instructions are matched and sent to the multiple positioning channels for data transmission control, and the channel status data is updated in real time. Through the above process, the method, system, and device proposed in this application achieve the technical effect of adaptively adjusting the transmission process based on the dynamic changes in the actual transmission status of the channels and the characteristics of the data packets themselves. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Flowcharts are used in this application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, various steps can be processed in reverse order or simultaneously as needed. Furthermore, other operations can be added to these processes, or one or more steps can be removed from these processes.

[0017] Figure 1 This is a flowchart illustrating a data transmission control method for multiple positioning channels provided in an embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the nested sorting process of the multi-channel priority transmission queue provided in the embodiments of this application.

[0019] Figure 3 This is a schematic diagram of a data transmission control system with multiple positioning channels provided in an embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0021] Figure labeling: Virtual connection establishment module 10, periodic signal acquisition module 20, urgency analysis module 30, scheduling and time slot allocation module 40, instruction issuance and status update module 50. Detailed Implementation

[0022] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0023] This application provides a data transmission control method for multiple positioning channels. In practical applications, this method is applied to communication devices or positioning systems that support parallel transmission of multiple positioning channels. The executing entity is a control module equipped with a processor and memory. The control module is used to implement control functions such as establishing virtual connections for positioning channels, acquiring pulse signals, calculating the urgency of data packet transmission, sorting transmission queues, and allocating time slots. Figure 1 As shown, the method includes: In step S100, when the control module starts the positioning channel, the transmission end sets up a positioning channel virtual connection module, and virtually connects multiple positioning channels according to periodic electrical signals through the channel virtual connection module.

[0024] Specifically, when the positioning channel is activated, the control module invokes the virtual connection setting function of the transmission end positioning channel. This function runs as a software program module within the control module and is used to establish the virtual connection module for the positioning channel. The virtual connection module is a logical functional unit used to receive periodic electrical signals and configure virtual connections for multiple physical positioning channels. Specifically, the control module first identifies the number of physical positioning channels to be activated and their channel identifiers. Each physical positioning channel corresponds to an independent signal transmission link used to transmit positioning signals. The control module registers the identifier information of the physical positioning channels with the virtual connection module. The virtual connection module assigns a virtual connection identifier to each physical positioning channel based on the registration information. This virtual connection identifier uniquely identifies the channel at the logical level. The virtual connection module generates a periodic electrical signal using a signal generator according to preset periodic electrical signal parameters. These parameters include signal frequency, signal amplitude range, and period duration. The periodic electrical signal is a periodically changing voltage or current signal used to synchronize the logical connection status of each physical positioning channel. The positioning channel virtual connection module applies the periodic electrical signal in parallel to the input terminals of multiple registered physical positioning channels, so that the multiple physical positioning channels enter a synchronous virtual connection state under the drive of the same periodic electrical signal, thus completing the virtual connection setting of multiple positioning channels.

[0025] In one possible implementation, multiple positioning channels are virtually connected according to a periodic electrical signal via a channel virtual connection module. Step S100 further includes step S110, whereby the positioning channel virtual connection module performs feature analysis on the periodic electrical signal to obtain periodic feature parameters, and determines the virtual connection synchronization timing based on the periodic feature parameters. Specifically, the positioning channel virtual connection module continuously samples the waveform of the periodic electrical signal at a sampling frequency more than 10 times the frequency of the periodic electrical signal to obtain waveform data. The positioning channel virtual connection module extracts periodic feature parameters from the waveform data. These periodic feature parameters include the signal period duration, the signal rising edge time, the signal falling edge time, the signal peak amplitude, and the signal valley amplitude. The signal period duration is the time interval between two adjacent rising edges; the signal rising edge time is the midpoint between the signal amplitude rising from the valley to the peak; and the signal falling edge time is the midpoint between the signal amplitude falling from the peak to the valley. The positioning channel virtual connection module determines the period length of the virtual connection synchronization timing based on the signal period duration, the start synchronization trigger time based on the signal rising edge, and the end synchronization release time based on the signal falling edge. The positioning channel virtual connection module combines the period length, start synchronization trigger time, and end synchronization release time into the virtual connection synchronization timing. Through this feature analysis, the virtual connection synchronization timing is aligned with the inherent beat of the periodic electrical signal, ensuring that each positioning channel establishes a virtual connection under a unified time base.

[0026] Step S120: Based on the positioning channel virtual connection module, pulse analysis is performed on the periodic electrical signal according to the synchronization timing to generate virtual link control pulse parameters for multiple cycles. Specifically, within each cycle of the virtual link synchronization timing, the positioning channel virtual connection module extracts a periodic electrical signal waveform segment from the start synchronization trigger time to the end synchronization release time. The positioning channel virtual connection module measures the pulse width of the extracted waveform segment to obtain the pulse width value; measures the pulse amplitude to obtain the pulse amplitude; and calculates the pulse duty cycle: pulse duty cycle = pulse width value ÷ signal cycle duration. The positioning channel virtual connection module performs the above measurements and calculations for multiple consecutive cycles to obtain the pulse width value, pulse amplitude, and pulse duty cycle for each cycle. The positioning channel virtual connection module combines the pulse width value, pulse amplitude, and pulse duty cycle of each cycle into virtual link control pulse parameters for the corresponding cycle, and arranges the virtual link control pulse parameters of multiple cycles in chronological order.

[0027] Step S130: The virtual link control pulse parameters of the multiple cycles are applied one by one to the multiple initial positioning channels according to the cycle acquisition sequence to construct a virtual channel connection. Specifically, the cycle acquisition sequence is the order of the multiple cycles arranged in step S120. The positioning channel virtual connection module applies the virtual link control pulse parameters of each cycle to the multiple initial positioning channels one by one according to the cycle acquisition sequence. Specifically, the positioning channel virtual connection module uses the pulse width value of the virtual link control pulse parameters of each cycle as the duration of the control signal, the pulse amplitude as the voltage level value of the control signal, and the pulse duty cycle as the effective proportion of the control signal in one cycle, and generates the corresponding control signal through a pulse signal generator. The positioning channel virtual connection module sends the generated control signals in parallel to the control input terminals of the multiple initial positioning channels. The multiple initial positioning channels switch to the virtual connection state simultaneously under the action of the same control signal. The positioning channel virtual connection module traverses the virtual link control pulse parameters of all cycles according to the cycle acquisition sequence, generates the corresponding control signals in sequence, and applies them to the multiple initial positioning channels, so that the multiple initial positioning channels maintain a synchronized virtual connection state in each cycle, thereby constructing a virtual channel connection. This virtual connection represents the logical synchronization relationship between multiple positioning channels, ensuring that they work collaboratively under the same control signal.

[0028] Step S140: The connection status of the multiple initial positioning channels is confirmed according to the virtual channel connection. Based on the connection confirmation results, the multiple positioning channels are determined. Specifically, connection status confirmation involves the positioning channel virtual connection module sending a status query command to each initial positioning channel. The status query command includes a channel identifier and a confirmation request code. After receiving the status query command, each initial positioning channel returns a response signal, which includes a channel identifier, a current virtual connection status identifier, and channel operating parameters. The positioning channel virtual connection module receives all response signals returned by the initial positioning channels and parses the current virtual connection status identifier in each response signal. If the current virtual connection status identifier indicates a valid connection, the initial positioning channel is determined to have passed connection confirmation; if the current virtual connection status identifier indicates an invalid connection or no response signal is received, the initial positioning channel is determined to have failed connection confirmation. The positioning channel virtual connection module counts the initial positioning channels that have passed connection confirmation, removes the initial positioning channels that have failed connection confirmation from the virtual channel connection, and determines the initial positioning channels that have passed connection confirmation as multiple positioning channels for subsequent periodic data acquisition and data transmission.

[0029] Step S200: Periodically collect data based on the multiple positioning channels to obtain a pulse signal set, which includes channel status data and positioning data packets to be transmitted.

[0030] Specifically, the control module performs periodic acquisition operations based on the multiple positioning channels determined in step S140. Through the pulse acquisition submodule in the positioning channel virtual connection module, the control module simultaneously reads the electrical signals output from multiple positioning channels in each acquisition cycle, performs analog-to-digital conversion on the read electrical signals, and converts them into digital pulse signal samples. The control module continuously acquires a predetermined number of pulse signal samples for each positioning channel in each acquisition cycle. The predetermined number is determined based on the acquisition cycle duration and sampling rate. For example, if the acquisition cycle duration is 1ms and the sampling rate is 1M times per second, then 1000 pulse signal samples are acquired in each acquisition cycle. The control module groups all pulse signal samples from multiple positioning channels within the same acquisition cycle according to channel identifiers. Each group contains all pulse signal samples from one positioning channel within that acquisition cycle. The control module combines all grouped pulse signal samples obtained in multiple acquisition cycles into a pulse signal set. The pulse signal set contains two types of data: one is channel status data, used to characterize the virtual connection status of each positioning channel; the other is the positioning data packet to be transmitted, used to carry positioning information.

[0031] In one possible implementation, the step S200, which involves periodically acquiring pulse signals based on the multiple positioning channels to obtain a pulse signal set, further includes step S210: setting up a periodic electrical signal pulse acquisition module. This module synchronously triggers the multiple positioning channels to acquire pulse signals according to the acquisition cycle, obtaining pulse signal amplitudes for multiple cycles. Specifically, the control module sets up the periodic electrical signal pulse acquisition module, which is a software functional unit running within the control module, used to control the pulse signal acquisition process. The periodic electrical signal pulse acquisition module is configured with an acquisition cycle parameter, the value of which is set according to the sampling requirements of the positioning system, for example, 1ms. The module generates a synchronous trigger signal according to the acquisition cycle. This synchronous trigger signal is a square wave signal, and its rising edge is used to trigger the acquisition action. The module simultaneously sends the synchronous trigger signal to the acquisition trigger input terminals of the multiple positioning channels, and the multiple positioning channels simultaneously start pulse signal acquisition on the rising edge of the same synchronous trigger signal. After starting acquisition, each positioning channel samples and holds the analog electrical signal at its output terminal to obtain the analog voltage value at that moment, which is the pulse signal amplitude. The periodic electrical signal pulse acquisition module continuously acquires the pulse signal amplitude of each positioning channel a preset number of times within each acquisition cycle. The preset number of times is determined based on the acquisition cycle and the sampling rate of the analog-to-digital converter. The periodic electrical signal pulse acquisition module organizes all the pulse signal amplitudes acquired in multiple consecutive acquisition cycles according to the order of the acquisition cycles and the channel identifiers to obtain pulse signal amplitudes for multiple cycles.

[0032] Step S220: Based on the pulse signal amplitudes of the multiple cycles, pulse sampling matching is performed according to multiple positioning channels to determine the original pulse sampling values ​​of the multiple positioning channels. Specifically, the pulse sampling matching operation assigns each pulse signal amplitude to its corresponding positioning channel and corresponding acquisition cycle. Specifically, the periodic electrical signal pulse acquisition module reads the channel identifier field and cycle number field corresponding to each pulse signal amplitude. The channel identifier field is automatically marked by the analog-to-digital converter during acquisition, and the cycle number field is automatically incremented by the periodic electrical signal pulse acquisition module when acquisition is triggered. The periodic electrical signal pulse acquisition module classifies all pulse signal amplitudes according to the channel identifier field, grouping pulse signal amplitudes belonging to the same channel identifier into one group. The periodic electrical signal pulse acquisition module then groups the pulse signal amplitudes within each group according to the cycle number field, grouping pulse signal amplitudes belonging to the same cycle number into one subgroup. The periodic electrical signal pulse acquisition module calculates the arithmetic mean of the pulse signal amplitudes within each subgroup; this arithmetic mean is the original pulse sampling value of the positioning channel in that acquisition cycle. The periodic electrical signal pulse acquisition module organizes the raw pulse sample values ​​of all positioning channels in all acquisition cycles according to the channel identifier and cycle number to form a raw pulse sample value matrix.

[0033] Step S230 involves tracing the sources of multiple positioning channels using the periodic electrical signal pulse sampling module. Specifically, the periodic electrical signal pulse acquisition module reads the channel identifier corresponding to each original pulse sample value and searches for the corresponding physical positioning channel's hardware address in the registration information of the positioning channel virtual connection module based on the channel identifier. The periodic electrical signal pulse acquisition module also reads the acquisition cycle number corresponding to each original pulse sample value to determine the start and end times of that acquisition cycle. The periodic electrical signal pulse acquisition module combines the hardware address of the physical positioning channel with the start and end times of the acquisition cycle to form the source identifier information for each original pulse sample value. The periodic electrical signal pulse acquisition module summarizes the source identifier information of all original pulse sample values ​​according to the channel identifier, generating a pulse signal source record for each positioning channel. This pulse signal source record includes the channel identifier, hardware address, acquisition cycle number, acquisition start time, and acquisition end time. Through this tracing operation, the physical source and temporal location of each pulse signal are determined, providing a positioning basis for data aggregation and analysis.

[0034] Step S240: The original pulse sample values ​​of the multiple positioning channels are aggregated and sorted according to the multiple pulse signal sources to generate the pulse signal set. Specifically, the periodic electrical signal pulse acquisition module uses the channel identifier as the first-level sorting key and the acquisition cycle number as the second-level sorting key to sort all the original pulse sample values ​​in ascending order. After sorting, all the original pulse sample values ​​belonging to the same channel identifier are arranged sequentially according to the order of the acquisition cycle numbers to form the time-series sampling sequence of that channel. The periodic electrical signal pulse acquisition module splices the time-series sampling sequences of each channel according to the preset order of the channel identifiers to form the aggregated pulse signal set. In this pulse signal set, each data entry contains the channel identifier, acquisition cycle number, original pulse sample value, and source identifier information. The periodic electrical signal pulse acquisition module stores the pulse signal set in the memory of the control module for channel status determination and data packet generation.

[0035] In one possible implementation, the pulse signal set includes channel status data and positioning data packets to be transmitted. Step S200 further includes step S250, whereby the periodic electrical signal pulse acquisition module analyzes the original pulse sample values ​​of multiple positioning channels to extract a first signal component and a second signal component. Specifically, the periodic electrical signal pulse acquisition module treats each original pulse sample value as a main signal, which is a composite signal containing low-frequency and high-frequency components. The periodic electrical signal pulse acquisition module separates the low-frequency and high-frequency components using digital signal processing. Specifically, the periodic electrical signal pulse acquisition module inputs the original pulse sample values ​​into a digital low-pass filter. The cutoff frequency of the digital low-pass filter is set to half the frequency of the periodic electrical signal. The filtered output signal value is the first signal component, which reflects the slowly changing components in the pulse signal and is used to characterize the connection status of the channel. The periodic electrical signal pulse acquisition module subtracts the first signal component from the original pulse sample values ​​to obtain a difference signal, which is the second signal component. This second signal component reflects the rapidly changing components in the pulse signal and is used to carry the positioning data. The periodic electrical signal pulse acquisition module performs the above separation operation on all raw pulse sample values ​​one by one, and extracts the first signal component and the second signal component corresponding to each raw pulse sample value.

[0036] Step S260: The first signal component is mapped to the multiple positioning channels for connection analysis to obtain virtual link status parameters of the multiple positioning channels. The virtual link status parameters include the amplitude of the first signal component. Specifically, the periodic electrical signal pulse acquisition module reads the channel identifier and acquisition cycle number corresponding to each first signal component, and groups all first signal components belonging to the same channel identifier and the same acquisition cycle number into one analysis unit. For each analysis unit, the periodic electrical signal pulse acquisition module calculates the arithmetic mean of all first signal components within the analysis unit, and uses this arithmetic mean as the amplitude of the first signal component of the positioning channel in that acquisition cycle. The periodic electrical signal pulse acquisition module associates the amplitude of the first signal component with the channel identifier and the acquisition cycle number to form virtual link status parameters. The virtual link status parameters are a four-tuple of data, including the channel identifier, acquisition cycle number, first signal component amplitude, and a valid flag, wherein the valid flag is initially set to valid.

[0037] Step S270: The channel status of the multiple positioning channels is determined according to the amplitude of the first signal component to determine whether the multiple positioning channels are in a virtual link state, and the determination result is added to the channel status data. Specifically, the periodic electrical signal pulse acquisition module reads a preset amplitude threshold, the value of which is set according to the amplitude range of the periodic electrical signal, for example, set to 60% of the peak amplitude of the periodic electrical signal. The periodic electrical signal pulse acquisition module compares the amplitude of the first signal component of each positioning channel with the amplitude threshold in each acquisition cycle. If the amplitude of the first signal component is greater than or equal to the amplitude threshold, the positioning channel is determined to be in a virtual link state in that acquisition cycle, and the valid flag is set to valid; if the amplitude of the first signal component is less than the amplitude threshold, the positioning channel is determined not to be in a virtual link state in that acquisition cycle, and the valid flag is set to invalid. The periodic electrical signal pulse acquisition module arranges the determination results of all positioning channels in all acquisition cycles—that is, the combination of channel identifier, acquisition cycle number, and valid flag—in order of channel identifier and acquisition cycle number to form channel status data, which is used to indicate the connection validity of each positioning channel in different acquisition cycles.

[0038] Step S280: The second signal component is mapped to the multiple positioning channels for positioning load analysis to obtain the pulse sequence patterns of the multiple positioning channels. Specifically, the periodic electrical signal pulse acquisition module reads the channel identifier and acquisition period number corresponding to each second signal component, and arranges all second signal components belonging to the same channel identifier and the same acquisition period number according to the order of sampling time to form the second signal component sequence of that channel in that acquisition period. The periodic electrical signal pulse acquisition module performs encoding conversion on each second signal component sequence: each second signal component is compared with zero level; if the second signal component is greater than zero, it is encoded as logic high level 1; if the second signal component is less than or equal to zero, it is encoded as logic low level 0. The logic level sequence obtained after encoding each second signal component sequence is used as the pulse sequence pattern of the positioning channel in that acquisition period. This pulse sequence pattern is a binary sequence used to characterize the modulation method of the positioning data in the pulse signal.

[0039] Step S290: Demodulate the pulse sequence patterns of the multiple positioning channels to generate positioning data packets to be transmitted. Specifically, the periodic electrical signal pulse acquisition module reads a preset demodulation mapping table, which records the correspondence between logic level sequences and data symbols. For example, 8 consecutive logic levels correspond to one byte of data symbol. The periodic electrical signal pulse acquisition module groups the pulse sequence patterns of each positioning channel in each acquisition cycle according to a preset bit length. Each group contains a fixed number of logic level bits, for example, 8 bits per group. The periodic electrical signal pulse acquisition module converts each group of logic level bits into a data symbol according to the demodulation mapping table. This data symbol is a hexadecimal value. The periodic electrical signal pulse acquisition module concatenates all data symbols belonging to the same channel within an acquisition cycle according to the grouping order to form the original data block of that channel in that acquisition cycle. The periodic electrical signal pulse acquisition module verifies the original data block using cyclic redundancy check (CRC). The data block that passes the verification is used as the positioning data packet to be transmitted. Each positioning data packet to be transmitted includes a channel identifier, acquisition cycle number, data block length, data block content, and checksum. The periodic electrical signal pulse acquisition module organizes the positioning data packets to be transmitted generated by all positioning channels in all acquisition cycles according to the generation time sequence and stores them in the transmission buffer of the control module.

[0040] Step S300: Perform positioning error propagation analysis on the positioning data packet to be transmitted according to the channel status data, and calculate the urgency of data packet transmission.

[0041] Specifically, positioning error propagation analysis is used to assess the urgency of transmitting each positioning data packet under the current channel status. The control module determines the connection validity of the positioning channel associated with each positioning data packet in the corresponding acquisition period based on the valid flag bits of each positioning channel in the channel status data. If the valid flag bit of a positioning channel associated with a positioning data packet is valid within the corresponding acquisition period, the transmission urgency of that data packet is low; if the valid flag bit is invalid, the transmission urgency of that data packet is high, because channel connection failure will cause positioning errors to propagate along the virtual connection topology. The control module initially classifies all positioning data packets according to the valid flag bits of their associated channels, and then calculates the transmission urgency value based on topology analysis.

[0042] In one possible implementation, the positioning error propagation analysis is performed on the positioning data packet to be transmitted according to the channel state data to calculate the urgency of data packet transmission. Step S300 further includes step S310, which constructs a virtual connection topology graph of the multiple positioning channels by treating the multiple positioning channels as topology nodes and the virtual connection relationships between the multiple positioning channels as topology edges. Specifically, the control module assigns a topology node number to each positioning channel, which corresponds one-to-one with the channel identifier. The control module reads the virtual connection relationships recorded in the positioning channel virtual connection module. These virtual connection relationships include source channel identifiers and target channel identifiers, indicating that there is a virtual connection between the source channel and the target channel. The control module converts each virtual connection relationship into a topology edge, with the starting point of the topology edge being the topology node number corresponding to the source channel and the ending point being the topology node number corresponding to the target channel. The control module combines all topology nodes and all topology edges to form a virtual connection topology graph. This virtual connection topology graph is stored in the memory of the control module in the form of an adjacency list. Each entry in the adjacency list contains a topology node number and a list of all its adjacent topology node numbers.

[0043] Step S320: Map the location data packet to be transmitted to the virtual connection topology map to determine the source node location. Specifically, the control module reads the channel identifier field in the location data packet to be transmitted, which indicates the location channel that generated the data packet. The control module searches for a node number in the topology node numbers of the virtual connection topology map that matches the channel identifier, and determines that node number as the source node location of the location data packet to be transmitted in the virtual connection topology map.

[0044] Step S330: Using the source node position as the starting point, traverse the virtual connection topology graph for identification, determine the topology node sequence, and connect according to the topology node sequence to construct an error propagation path. Specifically, the control module uses a breadth-first traversal algorithm, starting from the source node position and visiting all topology nodes adjacent to the current node layer by layer. The execution process of the breadth-first traversal algorithm is as follows: The control module sets up a queue, enqueues the source node position, and marks it as visited. The control module takes a node from the queue, traverses the adjacency list of that node, enqueues all unvisited adjacent nodes and marks them as visited, and records the parent node of each adjacent node as the current node. The control module repeats the above operation until the queue is empty. After the traversal is completed, the control module obtains all topology nodes reachable from the source node position and the parent node information of each node. Starting from each reachable leaf node, the control module backtracks along the parent node pointer back to the source node position, arranging all topology nodes on the backtracking path in order from the source node to the leaf node to form a topology node sequence. The control module connects the topological edges between adjacent nodes in each topological node sequence in sequence to construct error propagation paths. Each error propagation path represents a possible path for the positioning error to propagate from the source node to other nodes along the virtual connection topology.

[0045] Step S340: Traverse the error propagation path, record the node hop count, generate error propagation level depth data, and perform data error cumulative impact analysis based on the error propagation level depth data to calculate the urgency of data packet transmission. Specifically, the control module traverses each error propagation path constructed in step S330 and records the node hop count on each path. The node hop count is calculated as follows: starting from the source node position as hop 0, the hop count increases by 1 for each adjacent node reached through a topological edge. The control module summarizes the node hop counts on all error propagation paths according to the path to form error propagation level depth data, which includes the path identifier, source node identifier, leaf node identifier, and node hop count for each error propagation path. The control module performs data error cumulative impact analysis based on the error propagation level depth data: for each error propagation path, the control module performs a logical AND operation on the valid flag bits of all positioning channels in the channel status data on the path to obtain the valid path flag bits. The control module marks paths with invalid valid path flag bits as error-affected paths. The control module performs a weighted summation of the hop counts of all nodes along the error-affected paths of the source node for each positioning data packet to be transmitted. The weights are preset hop count weighting coefficients; the larger the hop count, the larger the weight. For example, the hop count weighting coefficient equals the square of the node hop count. The control module uses the weighted summation result as the urgency of transmitting the positioning data packet. A higher urgency value indicates a higher risk of the data packet being affected by the propagation of positioning errors, and therefore requires priority transmission.

[0046] For example, assume the virtual connection topology contains four nodes, corresponding to positioning channels A, B, C, and D. The virtual connection relationships are: channel A is connected to channel B, channel B is connected to channel C, channel C is connected to channel D, and channel A is connected to channel D. The source node of the positioning data packet P1 to be transmitted is channel A. A breadth-first traversal is performed starting from channel A, resulting in two complete error propagation paths from the source node to the leaf node: Path A: A→B→C→D, with 3 hops. Path B: A→D, with 1 hop. The valid flags in the channel status data are as follows: channel A is valid, channel B is invalid, channel C is valid, and channel D is valid. The urgency calculation process is as follows: For path A (A→B→C→D): the valid flags are: channel A valid ∩ channel B invalid ∩ channel C valid ∩ channel D valid = invalid. Because there is an invalid node (channel B) in the path, it is marked as an error-affected path. The path has a node hop count of 3, and its hop count weight coefficient is the square of the node hop count, i.e., 3. 2 =9. The weighted contribution of this path to urgency is 9 × 3 = 27. For path B (A→D): the path validity flag is channel A valid ∩ channel D valid = valid. All nodes on this path are valid, so it is not marked as an error-affected path, and its weighted contribution to urgency is 0. The urgency of data packet transmission is equal to the sum of the weighted contributions of all error-affected paths, i.e., 27 + 0 = 27. Table 1 shows the input data, intermediate variables, and output results in the above example.

[0047] Table 1

[0048] Step S400: Based on the urgency of the data packet transmission and the multiple positioning channels, the transmission is sorted to construct a multi-channel priority transmission queue. Dynamic joint scheduling is performed according to the multi-channel priority transmission queue to generate a time slot allocation instruction.

[0049] Specifically, the control module arranges all positioning data packets to be transmitted in descending order of transmission urgency. For data packets with the same urgency, a secondary sort is performed based on the channel buffer occupancy rate of the positioning channel. The control module then places the sorted data packets into a transmission queue, forming a multi-channel priority transmission queue. The control module reads the arrangement order of the data packets in the multi-channel priority transmission queue, allocates a corresponding positioning channel and transmission time slot to each data packet according to the arrangement order, and generates a time slot allocation instruction, including the channel identifier, the starting time slot number, and the number of continuous time slots.

[0050] In one possible implementation, the data packets are prioritized based on their transmission urgency and the multiple positioning channels to construct a multi-channel priority transmission queue. Step S400 further includes step S410, which involves arranging the positioning data packets to be transmitted in descending order of their transmission urgency to generate an initial sorted list. Specifically, the control module employs a quicksort algorithm, using data packet transmission urgency as the sorting key, to arrange all positioning data packets to be transmitted in descending order of urgency value. The quicksort algorithm is executed as follows: the control module selects a baseline urgency value, places data packets with urgency values ​​less than the baseline value in the left sublist, and places data packets with urgency values ​​greater than or equal to the baseline value in the right sublist, recursively performing the same operation on the left and right sublists until each sublist contains only one data packet. The control module uses the sorted list of data packets as the initial sorted list.

[0051] Step S420: Determine whether there are any location data packets with equal transmission urgency in the initial sorting list. Specifically, the control module sequentially reads the transmission urgency of each data packet in the initial sorting list and compares the currently read urgency with the urgency of the next data packet. If any adjacent data packets have the same urgency value, it is determined that there are location data packets with equal transmission urgency in the initial sorting list; if all adjacent data packets have different urgency values, it is determined that there are no location data packets with equal transmission urgency.

[0052] Step S430: If there are positioning data packets with equal transmission urgency, extract these packets. Based on these packets, extract target channel status data according to the multiple positioning channels. The target channel status data includes the channel buffer occupancy rate. Specifically, if step S420 determines that there are positioning data packets with equal transmission urgency, the control module extracts all positioning data packets with the same urgency value from the initial sorting list and groups them into an equal-urgency data packet group. For each data packet in this equal-urgency data packet group, the control module reads the channel identifier associated with the data packet and extracts the corresponding target channel status data from the positioning channel's buffer management module based on the channel identifier. The target channel status data includes the channel buffer occupancy rate, which is the ratio of the occupied storage capacity in the positioning channel's transmission buffer to the total storage capacity, expressed as a percentage. The control module records the channel buffer occupancy rate of each data packet in the data packet's attribute field.

[0053] Step S440: Based on the channel buffer occupancy rate, the data packets to be transmitted with equal urgency are reordered to generate the multi-channel priority transmission queue. Specifically, the control module arranges the data packets in the equal urgency data packet group in descending order of channel buffer occupancy rate. The higher the channel buffer occupancy rate, the more congested the channel is, and its data packets should be transmitted first to avoid overflow. The control module then places the reordered equal urgency data packet group back to its corresponding position in the initial sorting list, generating the multi-channel priority transmission queue.

[0054] In one possible implementation, the positioning data packets with equal urgency are reordered based on the channel buffer occupancy rate to generate the multi-channel priority transmission queue. Step S440 further includes step S441, determining whether there are any positioning data packets with equal channel buffer occupancy rates among the reordered positioning data packets. Specifically, the control module sequentially reads the channel buffer occupancy rate of each data packet in the equal urgency data packet group and compares the currently read occupancy rate with the occupancy rate of the next data packet. If any adjacent data packets have the same occupancy rate, it is determined that there are positioning data packets with equal channel buffer occupancy rates; if all adjacent data packets have different occupancy rates, it is determined that there are no positioning data packets with equal channel buffer occupancy rates.

[0055] Step S442: If there are positioning data packets to be transmitted with equal channel buffer occupancy rates, then channel signal quality indicators are extracted based on these packets. These channel signal quality indicators correspond to multiple positioning channels. Specifically, if step S441 determines that there are positioning data packets to be transmitted with equal channel buffer occupancy rates, the control module extracts these packets from the equal urgency data packet group and groups them into an equal buffer occupancy rate data packet group. For each data packet in this equal buffer occupancy rate data packet group, the control module reads the channel identifier associated with the data packet and extracts the corresponding channel signal quality indicator from the positioning channel's signal quality monitoring module based on the channel identifier. The channel signal quality indicator is the signal-to-noise ratio (SNR), used to characterize the signal transmission quality of the positioning channel. The signal quality monitoring module calculates the SNR of each positioning channel in real time using the following calculation method: SNR = 10 × log 10 (Signal power / noise power). The control module records the channel signal quality index of each data packet in the attribute field of that data packet.

[0056] Step S443: The data packets to be transmitted with equal channel buffer occupancy rates are sorted three times according to the channel signal quality index from high to low, generating the multi-channel priority transmission queue. Specifically, the control module arranges the data packets in the equal buffer occupancy rate data packet group in descending order of channel signal quality index. The higher the channel signal quality index, the better the transmission quality of that channel, and its data packets should be transmitted first to ensure transmission reliability. The control module then places the three-time sorted equal buffer occupancy rate data packet group back into its corresponding position in the equal urgency data packet group, and then back into its corresponding position in the initial sorting list, generating the final multi-channel priority transmission queue.

[0057] For example, suppose there are three location data packets P1, P2, and P3 to be transmitted in the initial sorting list, all with a transmission urgency of 5, belonging to a group of equally urgent data packets. P1 is associated with channel A, and channel A's buffer occupancy rate is 80%; P2 is associated with channel B, and channel B's buffer occupancy rate is 80%; P3 is associated with channel C, and channel C's buffer occupancy rate is 60%. In the secondary sorting, arranged in descending order of buffer occupancy rate, P1 and P2 both have a buffer occupancy rate of 80%, which is higher than P3's 60%, therefore P1 and P2 are ranked before P3. The channel signal quality index of P1 associated with channel A is 25dB, and the channel signal quality index of P2 associated with channel B is 20dB. In the three sorting processes, since the channel buffer occupancy rates of P1 and P2 remained equal (both 80%), while the buffer occupancy rate of P3 (60%) differed from both, the three sorting processes only applied to P1 and P2. The channels were sorted in descending order of channel signal quality metrics. P1's signal quality (25dB) was higher than P2's (20dB), therefore P1 was placed before P2. The final order of the multi-channel priority transmission queue was P1, P2, P3. (See Table 2 and...) Figure 2 This demonstrates the complete process of nested sorting in the example above.

[0058] Table 2

[0059] In one possible implementation, dynamic joint scheduling is performed according to the multi-channel priority transmission queue to generate time slot allocation instructions. Step S400 further includes step S450, reading the order data of the positioning data packets to be transmitted in the multi-channel priority transmission queue. Specifically, the control module reads the multi-channel priority transmission queue generated in step S443 from memory and obtains the order data of all positioning data packets to be transmitted in the queue. The order data includes the position number of each data packet in the queue, with the position number starting from 1 and incrementing. The smaller the position number, the higher the transmission priority of the data packet.

[0060] Step S460: The control module performs scheduling analysis on the location data packets to be transmitted based on the arrangement order data, and sets scheduling priorities for multiple positioning channels. Specifically, the control module processes each data packet sequentially according to its position number in the arrangement order data, from smallest to largest. For the currently processed data packet, the control module reads the channel identifier associated with the data packet and sets the scheduling priority of the positioning channel corresponding to that channel identifier to the priority level corresponding to the data packet's position number. The priority level setting rule is as follows: the channel corresponding to the data packet with position number 1 is set to the highest scheduling priority, the channel corresponding to the data packet with position number 2 is set to the second highest scheduling priority, and so on. If multiple data packets are associated with the same channel, the scheduling priority of that channel is the highest priority level among these data packets. The control module records the scheduling priorities of all positioning channels in a channel scheduling priority table.

[0061] Step S470: Allocate time slot resources to the multiple positioning channels according to their scheduling priorities to determine the time slot allocation parameters for each channel. Specifically, the control module reads the preset total capacity of the time slot resource pool, expressed in terms of the number of time slots. The control module allocates time slots to each positioning channel in descending order of scheduling priority. The allocation rule is as follows: the channel with the highest scheduling priority is allocated 50% of the total capacity of the time slot resource pool; the channel with the second highest scheduling priority is allocated 50% of the remaining capacity; and the remaining channels are allocated the remaining time slots in the same proportion until the time slot resource pool is fully allocated or all channels are allocated. The control module records the number of time slots allocated to each positioning channel as the time slot allocation parameter for that channel.

[0062] Step S480: Based on the time slot quantity allocation parameters of the multiple positioning channels, the start and end time sequences of the time slots are identified, and multiple time slot allocation instructions are generated. Specifically, the control module uses the start time of the time slot resource pool as the time zero point, and allocates continuous time slot intervals to each positioning channel in descending order of scheduling priority. For the currently processed positioning channel, the control module sets the starting time slot number of the channel to the ending time slot number of the previous channel plus 1, and sets the ending time slot number of the channel to the starting time slot number plus the time slot quantity allocation parameter of the channel minus 1. The control module combines the channel identifier, starting time slot number, and ending time slot number of each positioning channel to generate the time slot allocation instruction corresponding to that channel.

[0063] Step S490: The multiple time slot allocation instructions are scheduled and packaged according to the multiple positioning channels to construct a time slot allocation instruction. Specifically, the control module arranges all time slot allocation instructions in a preset order of channel identifiers, and adds an instruction header before each time slot allocation instruction. This instruction header contains an instruction type code and an instruction length field. The control module concatenates all time slot allocation instructions after adding the instruction header into a complete time slot allocation instruction frame. This time slot allocation instruction frame contains a frame header, an instruction quantity field, multiple time slot allocation instructions, and a frame tail checksum.

[0064] Step S500: The time slot allocation command is matched and sent to the multiple positioning channels for data transmission control, and the channel status data is updated in real time.

[0065] Specifically, the control module reads the time slot allocation instructions corresponding to each positioning channel one by one according to the instruction quantity field in the time slot allocation instruction frame, and sends each time slot allocation instruction to the scheduling control input terminal of the positioning channel through the control signal line corresponding to that positioning channel. After receiving the time slot allocation instruction, each positioning channel performs data transmission operations within its allocated time slot interval according to the start time slot number and end time slot number in the instruction, and remains silent in the unallocated time slot interval. After sending the time slot allocation instruction frame, the control module starts the channel status monitoring thread. This thread reads the current working status of multiple positioning channels according to a preset monitoring cycle, compares the read current working status with the channel status data generated in step S270, and if a status change is found, updates the corresponding valid flag bit in the channel status data to the current working status value. The control module stores the updated channel status data in memory for use as input data in the next round of data transmission control cycle.

[0066] This application embodiment solves the technical problem of existing multi-positioning channel data transmission control's difficulty in adaptively adjusting the transmission process according to the dynamic changes in the actual channel transmission status and the characteristics of the data packets themselves. It achieves the technical effect of adaptively adjusting the transmission process according to the dynamic changes in the actual channel transmission status and the characteristics of the data packets themselves. This is achieved by the control module sequentially executing the establishment of virtual connection of positioning channel, acquisition of periodic pulse signal and generation of signal set, calculation of data packet transmission urgency based on channel status, construction of multi-channel priority transmission queue and generation of time slot allocation instruction, and issuance of time slot allocation instruction and channel status update.

[0067] In the above text, refer to Figures 1-2 A data transmission control method for multiple positioning channels according to an embodiment of the present invention has been described in detail. Next, reference will be made to... Figure 3 A data transmission control system with multiple positioning channels according to an embodiment of the present invention is described.

[0068] A data transmission control system for multiple positioning channels according to an embodiment of the present invention addresses the technical problem of existing data transmission control systems for multiple positioning channels being unable to adaptively adjust the transmission process based on dynamic changes in the actual transmission state of the channel and the characteristics of the data packets themselves. The system achieves the technical effect of adaptively adjusting the transmission process based on dynamic changes in the actual transmission state of the channel and the characteristics of the data packets themselves. The data transmission control system for multiple positioning channels includes: a virtual connection establishment module 10, a periodic signal acquisition module 20, a urgency analysis module 30, a scheduling and time slot allocation module 40, and a command issuance and status update module 50.

[0069] The virtual connection establishment module 10 is used to set up a virtual connection module for the positioning channel when the control module opens the positioning channel, and to virtually connect multiple positioning channels according to periodic electrical signals through the channel virtual connection module; the periodic signal acquisition module 20 is used to periodically acquire data based on the multiple positioning channels to obtain a pulse signal set, which includes channel status data and positioning data packets to be transmitted; the urgency analysis module 30 is used to perform positioning error propagation analysis on the positioning data packets to be transmitted according to the channel status data and calculate the urgency of data packet transmission; the scheduling and time slot allocation module 40 is used to sort the transmission according to the data packet transmission urgency and the multiple positioning channels, construct a multi-channel priority transmission queue, perform dynamic joint scheduling according to the multi-channel priority transmission queue, and generate a time slot allocation instruction; the instruction issuance and status update module 50 is used to send the time slot allocation instruction to the multiple positioning channels for data transmission control and to update the channel status data in real time.

[0070] The specific configuration of the virtual connection establishment module 10 is described in detail below: As mentioned above, multiple positioning channels are virtually connected according to periodic electrical signals through the channel virtual connection module. The virtual connection establishment module 10 may further include: a periodic feature analysis unit for performing feature analysis on the periodic electrical signals through the positioning channel virtual connection module to obtain periodic feature parameters, and determining the virtual connection synchronization timing based on the periodic feature parameters; a pulse control parameter generation unit for performing pulse analysis on the periodic electrical signals according to the synchronization timing based on the positioning channel virtual connection module to generate multiple periodic virtual link control pulse parameters; a virtual connection construction unit for applying the multiple periodic virtual link control pulse parameters one by one to multiple initial positioning channels according to the periodic acquisition timing to construct channel virtual connections; and a connection status confirmation unit for confirming the connection status of the multiple initial positioning channels according to the channel virtual connections, and determining the multiple positioning channels based on the connection confirmation results.

[0071] The detailed description of the specific configuration of the periodic signal acquisition module 20 is explained as follows: As mentioned above, based on the multiple positioning channels, periodic acquisition is performed to obtain a pulse signal set. The periodic signal acquisition module 20 may further include: a synchronous trigger acquisition unit for setting up a periodic electrical signal pulse acquisition module, which synchronously triggers the multiple positioning channels to acquire pulse signals according to the acquisition cycle, thereby obtaining the amplitude of pulse signals for multiple cycles; a sampling matching unit for performing pulse sampling matching according to the amplitude of pulse signals for multiple cycles and multiple positioning channels to determine the original pulse sampling values ​​of multiple positioning channels; a signal tracing unit for tracing the multiple positioning channels through the periodic electrical signal pulse sampling module to locate the source of multiple pulse signals; and a signal convergence and sorting unit for converging and sorting the original pulse sampling values ​​of the multiple positioning channels according to the source of the multiple pulse signals to generate the pulse signal set.

[0072] The pulse signal set includes channel status data and positioning data packets to be transmitted. The periodic signal acquisition module 20 may further include: a signal component extraction unit for analyzing the original pulse sampling values ​​of multiple positioning channels through the periodic electrical signal pulse acquisition module to extract a first signal component and a second signal component; a connection analysis unit for mapping the first signal component to the multiple positioning channels for connection analysis to obtain virtual link status parameters of the multiple positioning channels, wherein the virtual link status parameters include the amplitude of the first signal component; a channel status determination unit for determining the channel status of the multiple positioning channels according to the amplitude of the first signal component, determining whether the multiple positioning channels are in a virtual link state, and adding the determination result to the channel status data; a positioning bearer analysis unit for mapping the second signal component to the multiple positioning channels for positioning bearer analysis to obtain the pulse sequence pattern of the multiple positioning channels; and a data packet demodulation generation unit for demodulating according to the pulse sequence pattern of the multiple positioning channels to generate positioning data packets to be transmitted.

[0073] The urgency analysis module 30 is described in detail below: As mentioned above, the module performs positioning error propagation analysis on the positioning data packet to be transmitted according to the channel status data to calculate the urgency of data packet transmission. The urgency analysis module 30 may further include: a topology graph construction unit for constructing a virtual connection topology graph of the multiple positioning channels, using the multiple positioning channels as topology nodes and the virtual connection relationships between the multiple positioning channels as topology edges; a source node positioning unit for mapping the positioning data packet to be transmitted to the virtual connection topology graph to determine the source node position; an error propagation path construction unit for traversing the virtual connection topology graph with the source node position as the starting point to identify the topology node sequence, connecting the topology node sequences to construct the error propagation path; and a urgency calculation unit for traversing the error propagation path to record the node hop count, generating error propagation level depth data, performing data error cumulative impact analysis based on the error propagation level depth data, and calculating the urgency of data packet transmission.

[0074] The specific configuration of the scheduling and time slot allocation module 40 is described in detail below: As mentioned above, based on the urgency of data packet transmission and the multiple positioning channels, a multi-channel priority transmission queue is constructed. The scheduling and time slot allocation module 40 may further include: an urgency sorting unit for arranging the positioning data packets to be transmitted in descending order according to the urgency of data packet transmission to generate an initial sorting list; an urgency equivalence judgment unit for determining whether there are positioning data packets to be transmitted with equal transmission urgency in the initial sorting list; a buffer occupancy rate extraction unit for extracting positioning data packets to be transmitted with equal urgency if there are such packets, and extracting target channel status data based on the positioning data packets to be transmitted with equal urgency according to the multiple positioning channels, wherein the target channel status data includes channel buffer occupancy rate; and a secondary sorting unit for performing secondary sorting on the positioning data packets to be transmitted with equal urgency based on the channel buffer occupancy rate to generate the multi-channel priority transmission queue.

[0075] Specifically, the process involves a secondary sorting of the positioning data packets with equal urgency based on the channel buffer occupancy rate to generate the multi-channel priority transmission queue. The secondary sorting unit may further include: an occupancy rate equality judgment subunit for determining whether any of the secondary sorted positioning data packets still have equal channel buffer occupancy rates; a signal quality extraction subunit for extracting channel signal quality indicators based on such data packets if equal channel buffer occupancy rates exist, wherein the channel signal quality indicators correspond to multiple positioning channels; and a tertiary sorting subunit for sorting the positioning data packets still having equal channel buffer occupancy rates three times according to the channel signal quality indicators from high to low, thereby generating the multi-channel priority transmission queue.

[0076] The scheduling and time slot allocation module 40, which dynamically coordinates the multi-channel priority transmission queue to generate time slot allocation instructions, may further include: a queue order reading unit for reading the arrangement order data of the positioning data packets to be transmitted in the multi-channel priority transmission queue; a scheduling priority setting unit for performing scheduling analysis on the positioning data packets to be transmitted based on the arrangement order data and setting the scheduling priority of multiple positioning channels; a time slot quantity allocation unit for allocating time slot resources to the multiple positioning channels according to the scheduling priority of the multiple positioning channels and determining the time slot quantity allocation parameters of the multiple positioning channels; a time slot instruction generation unit for generating multiple time slot allocation instructions by identifying the start and end times of the time slots based on the time slot quantity allocation parameters of the multiple positioning channels; and a time slot instruction packaging unit for packaging the multiple time slot allocation instructions according to the multiple positioning channels to construct the time slot allocation instructions.

[0077] The data transmission control system for multiple positioning channels provided in this embodiment of the invention can execute the data transmission control method for multiple positioning channels provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0078] Although this application makes various references to certain modules in the system according to the embodiments of this application, any number of different modules can be used and run on user terminals and / or servers. The various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of this invention.

[0079] Based on the foregoing embodiments, this application also provides an electronic device. Figure 4This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing the embodiments of the present invention. Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention. This electronic device is in the form of a general-purpose computing device, and its components may include, but are not limited to, an input device 401, a processor 402, a memory 403, and an output device 404. The processor 402 may be one or more; the memory 403 may include a computer-readable medium and at least one program product having a set (at least one) of program modules configured to perform the functions of the embodiments of this application.

[0080] The memory 403 shown in this embodiment of the invention can be any combination of one or more computer-readable media. The computer-readable storage media can be, but is not limited to, infrared, semiconductor systems, devices or components, or any combination thereof, used to store software programs, computer-executable programs and modules, such as the program instructions / modules corresponding to a multi-positioning channel data transmission control method in this embodiment of the invention. The processor 402 executes various functional applications and data processing of the computer device by running the software programs, instructions and modules stored in the memory 403, thereby realizing the above-mentioned multi-positioning channel data transmission control method.

[0081] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A data transmission control method for multiple positioning channels, characterized in that, The method includes: When the control module activates the positioning channel, the transmission end sets up a positioning channel virtual connection module, which then virtually connects multiple positioning channels according to periodic electrical signals. Periodic acquisition is performed based on the multiple positioning channels to obtain a pulse signal set, which includes channel status data and positioning data packets to be transmitted. Based on the channel status data, perform positioning error propagation analysis on the positioning data packet to be transmitted, and calculate the urgency of data packet transmission. Based on the urgency of data packet transmission and the multiple positioning channels, transmission is sorted to construct a multi-channel priority transmission queue. Dynamic joint scheduling is performed according to the multi-channel priority transmission queue to generate time slot allocation instructions. The time slot allocation command is matched and sent to the multiple positioning channels for data transmission control, and the channel status data is updated in real time.

2. The data transmission control method for multiple positioning channels as described in claim 1, characterized in that, Multiple positioning channels are virtually connected using a channel virtual connection module according to periodic electrical signals. The method includes: The virtual connection module of the positioning channel performs feature analysis according to the periodic electrical signal to obtain periodic feature parameters, and determines the virtual connection synchronization timing based on the periodic feature parameters. Based on the positioning channel virtual connection module, the periodic electrical signal is analyzed according to the synchronization timing to generate multiple periods of virtual link control pulse parameters. The virtual link control pulse parameters of the multiple cycles are applied one by one to the multiple initial positioning channels according to the cycle acquisition time sequence to construct a virtual connection between the channels; The connection status of the multiple initial positioning channels is confirmed according to the virtual connection of the channels, and the multiple positioning channels are determined based on the connection confirmation results.

3. The data transmission control method for multiple positioning channels as described in claim 1, characterized in that, The method for periodically acquiring pulse signal sets based on the multiple positioning channels includes: A periodic electrical signal pulse acquisition module is set up, which synchronously triggers the multiple positioning channels to acquire pulse signals according to the acquisition cycle, thereby obtaining the pulse signal amplitude of multiple cycles. Based on the amplitude of the pulse signals of the multiple cycles, pulse sampling and matching are performed according to the multiple positioning channels to determine the original pulse sampling values ​​of the multiple positioning channels; The periodic electrical signal pulse sampling module is used to trace the source of multiple positioning channels and locate the source of multiple pulse signals. The original pulse sampling values ​​of the multiple positioning channels are aggregated and sorted according to the multiple pulse signal sources to generate the pulse signal set.

4. The data transmission control method for multiple positioning channels as described in claim 3, characterized in that, The pulse signal set includes channel status data and positioning data packets to be transmitted. The method includes: The original pulse sampling values ​​of multiple positioning channels are analyzed by the periodic electrical signal pulse acquisition module to extract the first signal component and the second signal component. The first signal component is mapped to the plurality of positioning channels for connection analysis to obtain virtual link status parameters of the plurality of positioning channels, wherein the virtual link status parameters include the amplitude of the first signal component. Based on the amplitude of the first signal component, the channel status of the multiple positioning channels is determined to determine whether the multiple positioning channels are in a virtual link state, and the determination result is added to the channel status data. The second signal component is mapped to the multiple positioning channels for positioning load analysis to obtain the pulse sequence pattern of the multiple positioning channels; Demodulate the pulse sequence pattern of the multiple positioning channels to generate positioning data packets to be transmitted.

5. The data transmission control method for multiple positioning channels as described in claim 1, characterized in that, The method includes performing positioning error propagation analysis on the positioning data packet to be transmitted based on the channel status data, and calculating the urgency of data packet transmission. The multiple positioning channels are used as topology nodes, and the virtual connection relationships between the multiple positioning channels are used as topology edges to construct a virtual connection topology graph of the multiple positioning channels. The location data packet to be transmitted is mapped to a virtual connection topology to determine the location of the source node; The source node position is used as the starting point to traverse the virtual connection topology graph for identification, the topology node sequence is determined, and the topology node sequence is connected to construct the error propagation path. The error propagation path is traversed to record the hop count of each node, generating error propagation level depth data. Based on the error propagation level depth data, the cumulative impact of data error is analyzed, and the urgency of data packet transmission is calculated.

6. The data transmission control method for multiple positioning channels as described in claim 1, characterized in that, Based on the urgency of data packet transmission and the multiple positioning channels, a multi-channel priority transmission queue is constructed. The method includes: Arrange the location data packets to be transmitted in descending order according to their transmission urgency to generate an initial sorted list; Determine whether there are any location data packets with equal transmission urgency in the initial sorting list; If there are positioning data packets to be transmitted with equal urgency, extract the positioning data packets to be transmitted with equal urgency, and extract target channel status data according to the multiple positioning channels based on the positioning data packets to be transmitted with equal urgency. The target channel status data includes the channel buffer occupancy rate. Based on the channel buffer occupancy rate, the location data packets to be transmitted with equal urgency are sorted a second time to generate the multi-channel priority transmission queue.

7. The data transmission control method for multiple positioning channels as described in claim 6, characterized in that, Based on the channel buffer occupancy rate, the pending location data packets with equal urgency are reordered to generate the multi-channel priority transmission queue. The method includes: Determine whether any of the reordered location data packets to be transmitted contain location data packets with the same channel buffer occupancy rate. If there are positioning data packets to be transmitted with equal channel buffer occupancy rates, then channel signal quality indicators are extracted based on the positioning data packets to be transmitted with equal channel buffer occupancy rates. The channel signal quality indicators correspond to multiple positioning channels. The data packets to be transmitted that still have equal channel buffer occupancy rates are sorted three times according to the channel signal quality index from high to low to generate the multi-channel priority transmission queue.

8. The data transmission control method for multiple positioning channels as described in claim 1, characterized in that, Dynamic joint scheduling is performed according to the multi-channel priority transmission queue to generate time slot allocation instructions, the method including: Read the order data of the positioning data packets to be transmitted in the multi-channel priority transmission queue; Based on the arrangement order data, the scheduling analysis of the positioning data packets to be transmitted is performed, and the scheduling priority of multiple positioning channels is set; Based on the scheduling priority of the multiple positioning channels, time slot resources are allocated to the multiple positioning channels to determine the time slot quantity allocation parameters for the multiple positioning channels; Based on the time slot number allocation parameters of the multiple positioning channels, the start and end timing of the time slots are identified, and multiple time slot allocation instructions are generated. The multiple time slot allocation instructions are scheduled and packaged according to the multiple positioning channels to construct the time slot allocation instructions.

9. A data transmission control system with multiple positioning channels, characterized in that, The system is used to implement the data transmission control method for multiple positioning channels according to any one of claims 1-8, the system comprising: The virtual connection establishment module is used to set up the virtual connection of the positioning channel on the transmission end when the control module opens the positioning channel. The virtual connection module of the channel virtual connection module virtually connects multiple positioning channels according to periodic electrical signals. The periodic signal acquisition module is used to periodically acquire data based on the multiple positioning channels to obtain a pulse signal set, which includes channel status data and positioning data packets to be transmitted. The urgency analysis module is used to perform positioning error propagation analysis on the positioning data packet to be transmitted according to the channel status data, and calculate the urgency of data packet transmission. The scheduling and time slot allocation module is used to sort the data packets according to their transmission urgency and the multiple positioning channels, construct a multi-channel priority transmission queue, perform dynamic joint scheduling according to the multi-channel priority transmission queue, and generate time slot allocation instructions. The instruction issuance and status update module is used to match and send the time slot allocation instruction to the multiple positioning channels for data transmission control and to update the channel status data in real time.

10. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable instructions; A processor, when executing executable instructions stored in the memory, implements the data transmission control method for a multi-positioning channel as described in any one of claims 1 to 8.

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