Drone signal transmission method and system

Abstract

The embodiment of the application provides a kind of unmanned aerial vehicle signal transmission method and system.The method comprises: obtaining the video signal and serial port signal output by unmanned aerial vehicle, integrates according to preset time slot proportion to obtain serial data stream, generates frame sequence containing frame synchronization mark, channel identifier and check code by frame structure packaging, inserts clock synchronization field and carries out phase-locked loop calibration and then is converted into optical signal output to ground end.The method is used to realize the efficient integration of multiple signals, effectively improve the synchronization and reliability of signal transmission.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) communication, and more particularly to a UAV signal transmission method and system. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are increasingly used in industrial inspection, security, and disaster relief, among other fields. Wired signal transmission between UAVs and ground stations is becoming a crucial technology for high-reliability scenarios. Optical fiber, as a transmission medium, offers high bandwidth, low latency, and resistance to electromagnetic interference, making it suitable for UAV data links in environments with strong interference.

[0003] Current fiber-optic guided UAVs primarily achieve data transmission between the UAV and the ground station through physical fiber optic connections. Typically, a signal acquisition device is deployed on the UAV side, and a signal receiving device is deployed on the ground side. Control and video signals are transmitted between the two ends via fiber optic cables. Existing technologies generally use photoelectric conversion modules to convert electrical signals to optical signals, transmitting the information acquired by the UAV to the ground control station via fiber optics, while simultaneously transmitting control commands from the ground station to the UAV.

[0004] Existing technologies lack a perfect mechanism for integrating multiple signals, and there is a lack of efficient methods for integrating and transmitting video and control signals. This results in low transmission efficiency, high transmission delay, and poor compatibility between different devices, making it difficult to ensure the stability and reliability of UAV fiber optic communication in complex environments. Summary of the Invention

[0005] This application provides a method and system for transmitting signals from unmanned aerial vehicles (UAVs) to improve the signal synchronization and data reliability of UAV communication.

[0006] In a first aspect, embodiments of this application provide a method for transmitting signals from a drone, including:

[0007] Acquire the signal to be transmitted, which is the video signal and serial port signal output by the UAV;

[0008] The signals to be transmitted are integrated according to a preset time slot ratio to obtain a serial data stream;

[0009] The serial data stream is encapsulated with a frame structure to generate a frame sequence consisting of multiple data frames, wherein each data frame contains a frame synchronization identifier, a channel identifier, and a checksum.

[0010] A clock synchronization field is inserted into the frame sequence at a preset period, and a phase-locked loop calibration is performed on the data sequence after the clock synchronization field is inserted to generate a synchronized data stream.

[0011] The synchronous data stream is converted into an optical signal through photoelectric conversion and output to the ground control terminal.

[0012] In one possible implementation, the signals to be transmitted are integrated according to a preset time slot ratio to obtain a serial data stream, including:

[0013] The transmission time period is divided into multiple consecutive time slots according to a preset time length.

[0014] The video signal is mapped to a first time slot set, and the serial port signal is mapped to a second time slot set, wherein the number of time slots in the first time slot set is greater than that in the second time slot set;

[0015] The serial data stream is generated based on the time slot mapping results.

[0016] In one possible implementation, it also includes:

[0017] Obtain signal transmission priority parameters;

[0018] Based on the preset priority parameters and time slot ratio mapping relationship, the target time slot ratio corresponding to the first time slot set and the second time slot set is determined;

[0019] Adjust the number of time slots in the first time slot set and the second time slot set according to the target time slot ratio;

[0020] The adjusted time slot percentage is calculated based on the adjusted number of time slots.

[0021] The preset time slot ratio is updated based on the adjusted time slot ratio.

[0022] In one possible implementation, obtaining the signal transmission priority parameter includes:

[0023] Obtain video signal resolution parameters and control command response delay parameters;

[0024] The signal transmission priority parameter is generated by weighting the video signal resolution parameter and the control command response delay parameter according to preset weights.

[0025] In one possible implementation, after acquiring the signal to be transmitted, the process further includes:

[0026] Analog video signals are sampled and processed to obtain discrete video signals;

[0027] The discrete video signal is quantized to obtain a quantized level signal;

[0028] The quantized level signal is encoded to obtain a digital video signal.

[0029] In one possible implementation, the serial data stream is encapsulated with a frame structure to generate a frame sequence consisting of multiple data frames, including:

[0030] A preset bit sequence is inserted at the beginning of each data frame as a frame synchronization identifier;

[0031] The channel identifier and the data to be transmitted are inserted after the frame synchronization identifier to obtain the frame payload data;

[0032] The checksum is generated by calculating the frame payload data using a cyclic redundancy check algorithm.

[0033] The checksum is appended to the end of the frame payload data to form a complete data frame.

[0034] In one possible implementation, after obtaining the frame payload data, the process further includes:

[0035] Error correction codes are embedded in the data segment corresponding to the serial port signal to obtain the encoded frame payload data.

[0036] The encoded frame payload data is used for the calculation of the checksum.

[0037] In one possible implementation, it also includes:

[0038] Acquire ground control signals, wherein the ground control signals are serial port control signals;

[0039] The ground control signal is encapsulated in a frame structure and clocked to generate an uplink synchronization data stream;

[0040] The uplink synchronous data stream is converted into an optical signal through photoelectric conversion and output to the UAV.

[0041] Secondly, embodiments of this application provide a drone signal transmission system, including:

[0042] Unmanned aerial vehicles (UAVs), signal transmission devices, and ground control devices;

[0043] The signal transmission device is connected to the UAV and the ground control device via optical fiber, respectively.

[0044] The signal transmission device is used to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0045] In one possible implementation, the signal transmission device includes an aerial end and a ground end;

[0046] The sky terminal includes a signal acquisition unit, a time-division multiplexing unit, a frame encapsulation unit, a clock synchronization unit, and an electro-optical conversion unit;

[0047] The signal acquisition unit is used to acquire the signal to be transmitted, which is the video signal and serial port signal output by the UAV.

[0048] The time-division multiplexing unit is used to integrate the signal to be transmitted according to a preset time slot ratio to obtain a serial data stream;

[0049] The frame encapsulation unit is used to encapsulate the serial data stream into a frame structure to generate a frame sequence consisting of multiple data frames, wherein the data frames include a frame synchronization identifier, a channel identifier, and a checksum.

[0050] The clock synchronization unit is used to insert a clock synchronization field into the frame sequence at a preset period, and to perform phase-locked loop calibration on the data sequence after the clock synchronization field is inserted to generate a synchronized data stream.

[0051] The electro-optical conversion unit is used to convert the synchronous data stream into an optical signal through photoelectric conversion and output it to the ground control terminal;

[0052] The ground terminal includes a photoelectric conversion unit, a de-encapsulation unit, and a signal output unit;

[0053] The photoelectric conversion unit is used to receive the optical signal and convert the optical signal back into an electrical signal;

[0054] The decapsulation unit is used to perform frame synchronization identification, verification, and data decapsulation processing on the electrical signal;

[0055] The signal output unit is used to split the video signal and serial port signal according to the channel identifier and output them.

[0056] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0057] The memory stores computer-executed instructions;

[0058] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0059] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0060] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0061] The UAV signal transmission method and system provided in this application mixes the video signal and serial port signal output by the UAV into a single serial data stream at a fixed time ratio. Each data segment is given a frame header, type marker, and checksum. At the same time, a clock synchronization code is periodically inserted and the clock is calibrated using a phase-locked loop. Finally, the data is converted into an optical signal and transmitted. This allows the receiving end to extract synchronization information, align frame boundaries, distinguish data types, and verify data correctness from the optical signal without an additional clock line. It ensures clock synchronization and data integrity while simultaneously and stably transmitting video signals and serial port control signals. Attached Figure Description

[0062] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0063] Figure 1 A schematic diagram illustrating the scenario of UAV signal transmission provided in this application;

[0064] Figure 2 A flowchart illustrating the UAV signal transmission method provided in this application;

[0065] Figure 3 This is a schematic diagram of the structure of the UAV signal transmission system provided in this application;

[0066] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0067] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0068] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0069] First, let me explain the terms used in this application:

[0070] Time division multiplexing (TDM) is a technique that divides the transmission time into multiple time slots, allowing different types of signals to be transmitted in their respective time slots, thus enabling multiple signals to be transmitted in the same physical link.

[0071] Time slot ratio: The ratio of the number of time slots allocated to different types of signals to the total number of time slots, used to control the transmission bandwidth allocation of various types of signals.

[0072] Serial data stream: A single continuous bit stream formed by arranging multiple parallel signals in time sequence, suitable for transmission in a single transmission link.

[0073] Frame structure encapsulation: The process of organizing raw data into standardized data units according to a preset format, adding functional fields such as synchronization, identification, and verification to the data.

[0074] Data frame: A standardized data transmission unit containing a frame header, data payload, and checksum field; it is the basic transmission unit of the data link layer.

[0075] Frame synchronization identifier: A fixed bit sequence inserted at the beginning of a data frame, used by the receiver to identify the boundary position of the frame.

[0076] Channel identifier: A marker field inserted in a data frame to distinguish the type of signal carried in the current frame.

[0077] Checksum: A fixed-length code generated based on the data content using a specific algorithm, used to detect errors that occur during data transmission.

[0078] Clock synchronization field: A specific bit sequence inserted into the data stream at fixed intervals to provide clock reference information to the receiving end.

[0079] Phase-locked loop (PLL): A feedback control circuit that tracks the phase and frequency of an input signal to achieve clock synchronization between the transmitter and receiver.

[0080] Synchronous data stream: A serial bit stream that has been clock-synchronized and has precise clock synchronization characteristics.

[0081] Electro-optic conversion: the process of converting data in electrical signal form into optical signal form, which is a necessary step in optical fiber transmission.

[0082] Optical signal: A signal form that uses light as a carrier to carry data information, characterized by strong anti-interference ability and long transmission distance.

[0083] Time slot: The smallest unit of time divided within the transmission time period, and is the basic resource scheduling unit in time division multiplexing technology.

[0084] Time slot set: A resource set consisting of multiple time slots allocated to the same type of signal, which determines the transmission bandwidth of that type of signal.

[0085] Signal transmission priority parameter: A parameter that quantifies the importance of different types of signal transmissions and is used to guide the dynamic allocation of time slot resources.

[0086] Time slot allocation: The percentage of time slots allocated to a certain type of signal out of the total number of time slots, which directly determines the actual transmission bandwidth of that type of signal.

[0087] Mapping relationship: A pre-established correspondence between priority parameter values ​​and time slot allocation schemes, used to quickly query the optimal configuration.

[0088] Weighted calculation: refers to a calculation method that assigns corresponding weight coefficients to different influencing factors and obtains the comprehensive analysis result by weighted summation.

[0089] Sampling processing: This is the process of taking values ​​from a continuous analog signal at fixed time intervals to discretize the signal in the time dimension.

[0090] Quantization: The process of mapping continuously changing signal amplitude values ​​to discrete level levels, thereby discretizing the signal in the amplitude dimension.

[0091] Encoding process: This is the process of converting discrete level values ​​into corresponding binary bit sequences, achieving a complete conversion from analog to digital signals.

[0092] Cyclic Redundancy Check (CR) is an error detection algorithm based on polynomial division, which can efficiently detect errors in data transmission.

[0093] Frame payload data: This is the part of the data frame that carries the actual transmitted content, excluding control fields such as frame synchronization identifiers and checksums.

[0094] Error correction coding: A coding technique that enables the receiving end to automatically detect and correct transmission errors by adding redundant information to the data.

[0095] Uplink synchronization data stream: a sequence of synchronized control signals transmitted from the ground control terminal to the UAV terminal.

[0096] Photoelectric conversion: converting data in optical signal form back into electrical signal form.

[0097] In existing technologies, direct transmission of UAV data via optical fiber lacks a standardized signal integration and synchronization mechanism, resulting in technical problems such as chaotic multi-channel signal transmission, data asynchrony, and lack of integrity verification.

[0098] The UAV signal transmission method provided in this application solves the technical problem of the inability to efficiently and stably transmit multiple signals synchronously by integrating video signals and serial port signals through time-division multiplexing, encapsulating them with a standardized frame structure and adding clock synchronization calibration, and finally converting them into optical signals for transmission.

[0099] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0100] Figure 1 This application provides a schematic diagram of the application scenario for UAV signal transmission, such as... Figure 1 As shown, it includes: a drone 101, a signal transmission device 102, and a ground control device 103.

[0101] Among them, the drone 101 is used to output video signals and serial port signals.

[0102] The signal transmission device 102 is used to receive video signals and serial port signals output by the UAV 101, and perform signal integration, frame structure encapsulation, clock synchronization field insertion and phase-locked loop calibration processing to generate a synchronous data stream, and then convert the sequence into an optical signal and output it through an optical fiber.

[0103] The ground control device 103 is used to receive optical signals from optical fibers, convert the optical signals back into electrical signals, and then recover video signals and serial port signals from the electrical signals.

[0104] Figure 2 This is a flowchart illustrating the UAV signal transmission method provided in this application, as shown below. Figure 2 As shown, the method includes:

[0105] S201. Obtain the signal to be transmitted. The signal to be transmitted is the video signal and serial port signal output by the UAV.

[0106] Specifically, various signals output by the UAV flight control unit, including video signals and serial port signals, are acquired through the signal interface. The signal acquisition process is based on a standard interface protocol. By matching the electrical characteristics and communication protocol of the UAV, the synchronous acquisition and buffering of different types of signals are completed, providing a standardized data source for subsequent signal processing and ensuring the consistency and integrity of the data source in the subsequent signal processing.

[0107] S202. Integrate the signals to be transmitted according to the preset time slot ratio to obtain a serial data stream.

[0108] Specifically, time division multiplexing (TDD) technology divides the transmission time period into multiple consecutive time slots, mapping video signals and serial port signals to corresponding time slot sets, and arranging them in chronological order to generate a unified serial data stream. TDD technology allocates different types of signals to different time intervals for transmission based on time slice division, achieving parallel transmission of multiple signals on the same physical link through time-dimensional isolation.

[0109] By efficiently integrating video signals and serial signals, multiple parallel signals are converted into a single serial signal, significantly reducing the physical resource consumption of the transmission link and effectively improving the transmission bandwidth utilization. This enables the synchronous transmission of multiple signals in a single optical fiber, avoiding the increased cost and complexity caused by multi-link transmission.

[0110] S203. Encapsulate the serial data stream into a frame structure to generate a frame sequence consisting of multiple data frames. Each data frame contains a frame synchronization identifier, a channel identifier, and a checksum.

[0111] Specifically, a fixed bit sequence is inserted at the beginning of each data frame as a frame synchronization identifier. After the frame synchronization identifier, a channel identifier is inserted to distinguish different signal types. A checksum is generated by calculating the Cyclic Redundancy Check algorithm and appended to the end of the frame to form an independent data frame.

[0112] The frame synchronization identifier provides a frame boundary alignment reference, the channel identifier enables the receiver to identify the data type, and the check code detects bit errors in transmission through polynomial operations. By establishing a standardized data transmission format, the identifiability and reliability of data transmission are effectively improved. The receiver can quickly locate data boundaries through the frame synchronization identifier and detect transmission errors through the check code, thus ensuring data integrity.

[0113] S204. Insert a clock synchronization field into the frame sequence at a preset period, and perform phase-locked loop calibration on the data sequence after inserting the clock synchronization field to generate a synchronized data stream.

[0114] Specifically, clock synchronization fields of a specific pattern are inserted into the frame sequence at preset time intervals. A phase-locked loop (PLL) is used to perform phase tracking and frequency calibration on the data sequence, achieving clock synchronization between the transmitting and receiving ends. This effectively solves the clock drift problem in fiber optic transmission, reduces the bit error rate during transmission, avoids data sampling errors caused by clock asynchrony, and improves the stability and reliability of long-distance fiber optic transmission.

[0115] S205. The synchronous data stream is converted into an optical signal through photoelectric conversion and output to the ground control terminal.

[0116] Specifically, synchronous data streams in electrical signal form are converted into optical signals through electro-optical conversion and coupled to an optical fiber link for transmission, enabling long-distance data transmission from the UAV to the ground control terminal. By utilizing the anti-interference, high bandwidth, and low loss characteristics of optical fiber transmission, stable and reliable long-distance data transmission is achieved, solving the problems of susceptibility to interference and poor confidentiality in wireless transmission, enabling stable communication in strong electromagnetic environments, and improving transmission distance and data security.

[0117] The UAV signal transmission method provided in this application involves time-division multiplexing video and serial port signals according to a fixed time slot ratio, encapsulating data frames containing synchronization headers, channel identifiers, and check codes, periodically inserting clock synchronization fields, calibrating the clock using a phase-locked loop, and finally outputting via electro-optical conversion. This method enables stable simultaneous transmission of video signals and serial port control signals using a single optical fiber, while ensuring clock synchronization and data integrity at the receiving end, even without an independent clock channel.

[0118] This embodiment, based on the above embodiments, provides a detailed description of the UAV signal transmission method, which includes:

[0119] a1: Divide the transmission time period into multiple consecutive time slots according to the preset time length.

[0120] Specifically, by dividing each transmission time period into several continuous and non-overlapping time slices of fixed length, each time slice is called a time slot. The length of the time slot is determined by a preset time length parameter. The continuous time axis is discretized into basic time units of equal length, providing a time reference for allocating different time slots to different signals. This establishes a time frame for time division multiplexing, enabling multiple signals to alternately occupy the same physical channel in chronological order, forming quantifiable and allocable transmission resource units, facilitating subsequent control of time slot allocation ratios.

[0121] a2: Map the video signal to the first time slot set and the serial port signal to the second time slot set. The number of time slots in the first time slot set is greater than that in the second time slot set.

[0122] Specifically, video signals have a large data volume and high continuity requirements, necessitating the allocation of more time slots; serial port signals have a smaller data volume but high real-time response requirements, requiring only a few time slots, with the remaining time slots ensuring rapid instruction insertion. Based on the bandwidth requirements of the signal type, video data is allocated to the larger first time slot set, while serial port control data is allocated to the smaller second time slot set, thus completing the mapping between signal type and time slot resources.

[0123] Based on the differences in signal bandwidth requirements and real-time requirements, transmission resources are allocated differentially. Within the limited channel capacity, the high bandwidth transmission requirements of video signals are fully met, while ensuring the real-time transmission of control signals. Time slot resources are rationally configured according to the actual needs of the signal type to ensure the transmission quality of signals with high bandwidth requirements.

[0124] a3: Generate a serial data stream based on the time slot mapping results.

[0125] Specifically, data from the first and second time slot sets are read sequentially according to the time slot order on the time axis. Multiple parallel data streams are arranged chronologically to generate a continuous serial data stream. The time slot mapping determines the data output order, and the receiving end can recover the original signal based on the same time slot allocation rules. By converting multiple parallel signals into a single serial signal, unified transmission of multiple signal types within the same physical link is achieved, completing the integration of multiple signals. This conversion from parallel to serial transmission significantly simplifies the physical layer design of the transmission link and reduces system complexity.

[0126] In some alternative implementations, it also includes:

[0127] a4: Get signal transmission priority parameters.

[0128] Specifically, the transmission priority parameter is used to dynamically adjust the time slot allocation ratio to adapt to the different priorities of video or control commands in different task scenarios. By quantifying transmission requirements, the system can dynamically perceive the signal transmission priority in different scenarios, thereby adaptively sensing changes in transmission requirements and providing a basis for subsequent dynamic time slot adjustments.

[0129] a5: Determine the target time slot percentage corresponding to the first time slot set and the second time slot set based on the preset priority parameters and time slot percentage mapping relationship.

[0130] Specifically, by querying a pre-established mapping table and matching the current signal transmission priority parameter value, a corresponding time slot allocation scheme is obtained, determining the target time slot ratio of the first and second time slot sets. There is a pre-defined correspondence between the priority parameter and the time slot ratio; higher priority results in a larger video time slot ratio, and vice versa. This effectively improves the dynamic adjustment response speed and ensures a precise match between the time slot allocation scheme and current transmission requirements.

[0131] a6: Adjust the number of time slots in the first and second time slot sets according to the target time slot ratio.

[0132] Specifically, based on the total number of time slots and the proportion of target time slots within the current transmission time period, the number of time slots that should be occupied by video time slots and serial port time slots is calculated, and the time slot set is re-divided. The allocation of time slot resources is dynamically adjusted according to real-time transmission requirements to achieve adaptive optimization of transmission bandwidth.

[0133] a7: The adjusted time slot percentage is calculated based on the adjusted number of time slots.

[0134] Specifically, the actual number of time slots in the first and second time slot sets after adjustment is summarized, and the proportion of each set to the total number of time slots is calculated to obtain the actual adjusted time slot proportion. By quantitatively analyzing the actual allocated time slot resources, the execution result of the time slot adjustment is verified, ensuring the consistency between the actual time slot proportion and the target configuration, guaranteeing the accuracy of the time slot adjustment, and providing accurate configuration data for subsequent parameter updates.

[0135] a8: Update the preset time slot ratio based on the adjusted time slot ratio.

[0136] Specifically, the adjusted time slot ratio is written to the preset time slot ratio storage area, replacing the original ratio value. Subsequent time-division multiplexing processing will use the updated ratio. This enables dynamic updates to the time slot allocation strategy, allowing the system to continuously adapt to changes in transmission requirements.

[0137] In some alternative implementations, a4 above includes:

[0138] a41: Obtain video signal resolution parameters and control command response delay parameters.

[0139] Specifically, the resolution configuration information of the current video signal and the maximum allowable response delay requirement of control commands are obtained as input parameters for priority calculation. This ensures that the priority analysis accurately reflects the current video transmission quality requirements and the real-time requirements of control commands.

[0140] a42: Based on preset weights, the video signal resolution parameter and the control command response delay parameter are weighted and calculated to generate the signal transmission priority parameter.

[0141] Specifically, the resolution and latency parameters are multiplied by their respective preset weighting coefficients and then summed, or the weighted values ​​are normalized to a preset range and output as transmission priority parameters. This integrates multi-dimensional transmission requirements into a single priority analysis index, simplifying the decision-making process and enabling comprehensive quantitative analysis of multi-dimensional transmission requirements, ensuring that the priority parameters fully reflect the actual needs of the current transmission scenario.

[0142] This invention achieves optimized configuration and adaptive adjustment of transmission bandwidth resources through a time-division multiplexing mechanism that combines static allocation and dynamic adjustment of time slots. It takes into account both the high bandwidth transmission requirements of video signals and the low latency transmission requirements of control signals, and realizes the adaptive optimization configuration of time slot resources according to actual transmission needs, effectively improving resource utilization and scene adaptability.

[0143] This embodiment, based on the above embodiments, provides a detailed description of the UAV signal transmission method, which includes:

[0144] b1 samples and processes the analog video signal to obtain a discrete video signal.

[0145] Specifically, the continuously changing analog video signal is sampled at equal intervals according to a preset sampling frequency. The instantaneous amplitude value of the analog signal is obtained at each sampling moment, and the continuous time domain signal is converted into a discrete time domain signal. This completes the discretization of the analog signal in the time dimension, converting the continuously changing video signal into amplitude samples at discrete time points, and realizing the time discretization of the analog video signal. Without losing the original information, the continuous signal is converted into a discrete form suitable for digital processing.

[0146] b2 performs quantization processing on the discrete video signal to obtain the quantized level signal.

[0147] Specifically, the voltage amplitude values ​​of discrete sampling points are divided into intervals according to a preset quantization level. When each sample value falls into the corresponding interval, it is mapped to the level value represented by that interval, thus converting the continuous amplitude value with infinite precision into discrete level levels with finite precision. The quantization process divides the continuous amplitude space into multiple sub-intervals, each sub-interval corresponding to a quantization level. The quantization error depends on the number of quantization levels; the more levels, the higher the quantization precision.

[0148] b3 encodes the quantized level signal to obtain a digital video signal.

[0149] Specifically, each quantized level value is converted into its corresponding binary code. According to a preset encoding rule, discrete level values ​​are mapped into binary bit sequences to form a standard format digital video signal. This conversion from discrete levels to binary bits transforms the quantized level signal into a standard digital signal format, providing a standardized digital data source for subsequent time-division multiplexing, frame encapsulation, and fiber optic transmission.

[0150] This invention, through a complete analog-to-digital conversion process of sampling, quantization, and encoding, converts analog video signals into standard digital signals, achieving fully digital processing of video signals. This provides a standardized data foundation for subsequent multi-channel signal integration and fiber optic transmission, effectively improving the anti-interference capability and processing efficiency of signal transmission.

[0151] This embodiment, based on the above embodiments, provides a detailed description of the UAV signal transmission method, which includes:

[0152] c1, insert a preset bit sequence at the beginning of each data frame as a frame synchronization identifier.

[0153] Specifically, a pre-agreed fixed bit sequence with good autocorrelation properties is inserted at the beginning of each data frame, enabling it to be quickly identified and located at the receiving end. By inserting a fixed bit sequence with special autocorrelation properties, the receiving end can quickly detect the start position of the frame through correlation operations, eliminating boundary ambiguity between data frames and achieving frame boundary localization of the data stream.

[0154] c2 inserts the channel identifier and the data to be transmitted after the frame synchronization identifier to obtain the frame payload data.

[0155] Specifically, a channel identifier, used to distinguish signal types, is inserted after the frame synchronization identifier, followed by the actual data content to be transmitted, forming the payload of the data frame. The channel identifier is based on the principle of type marking; by reserving a fixed-length identifier field in the frame structure, it marks the data type carried by the current frame, allowing the receiver to perform corresponding data processing based on this identifier.

[0156] By clearly distinguishing video signals and serial signals by marking data types, the transmission of multiple signal types within the same frame structure can be differentiated. The receiving end can accurately identify the data type based on the channel identifier and perform corresponding processing, ensuring the orderly transmission of multiple signals.

[0157] c3 calculates the checksum by using a cyclic redundancy check algorithm on the frame payload data.

[0158] Specifically, the frame payload data is used as input, and a Cyclic Redundancy Check (CRC) algorithm is employed to perform polynomial division to generate a fixed-length checksum, which is used to detect potential data errors during transmission. CRC utilizes the principle of polynomial division: the checksum calculated at the sending end is appended to the data, and the receiving end performs the same division operation on the complete frame containing the checksum; a remainder of zero indicates that the data is error-free.

[0159] By establishing data integrity verification, error detection capabilities are provided for transmitted data. Bit errors generated during transmission can be detected, thus realizing data integrity verification. This can effectively detect random and sudden errors generated during transmission, ensuring the reliability of data transmission.

[0160] c4 appends the checksum to the end of the frame payload data to form a complete data frame.

[0161] Specifically, the generated checksum is appended to the end of the frame payload data, forming a complete standardized data frame structure together with the frame synchronization identifier, channel identifier, and data to be transmitted. Frame assembly is based on the data link layer framing principle, arranging the various fields sequentially according to a preset frame structure format to form standardized data transmission units. This ensures that data transmission has a unified format specification, facilitating parsing and processing by the receiving end according to a fixed format.

[0162] In some alternative implementations, after c2 above, the following is also included:

[0163] c21 embeds error correction codes into the data segment corresponding to the serial port signal to obtain the encoded frame payload data.

[0164] Specifically, the data segments corresponding to the serial port signals are encoded using a forward error correction coding algorithm, incorporating redundant check information. This allows the receiving end to automatically correct transmission errors without retransmission. Error correction coding is based on the forward error correction principle. By adding redundant information to the data, the receiving end can automatically detect and correct transmission errors within a certain range based on the redundant information, without requesting retransmission. This provides error correction capability for control signals, improves the reliability and anti-interference ability of control command transmission, and enables automatic error correction of control signals. Consequently, it can automatically correct errors when fiber optic transmission encounters local interference, reducing retransmission requirements and control response delays.

[0165] c22 uses the encoded frame payload data for checksum calculation.

[0166] Specifically, the frame payload data embedded with error correction coding is used as input to the Cyclic Redundancy Check (CRC) algorithm to calculate and generate the corresponding data checksum. The checksum covers both the original data to be transmitted and the embedded error correction coding information, enabling integrity verification of the entire transmitted content. The verification calculation is based on the principle of complete data, using the complete payload data after error correction coding as the verification object to ensure that the verification scope covers the entire transmitted content, achieving integrity verification of all transmitted content. This ensures that the error-corrected data is also protected by the verification, guaranteeing the reliability of the entire data frame transmission.

[0167] The embodiments of the present invention establish a complete data encapsulation and verification mechanism by combining standardized frame structure design with cyclic redundancy check and optional error correction coding, thereby realizing the orderly transmission and integrity protection of multiple types of signals and significantly improving the reliability and anti-interference capability of transmission.

[0168] This embodiment, based on the above embodiments, provides a detailed description of the UAV signal transmission method, which includes:

[0169] d1, acquire ground control signals, which are serial port control signals.

[0170] Specifically, by collecting serial port control signals output from control devices such as joysticks and buttons, including attitude commands, speed commands, or mode switching commands required for UAV flight control, the system completes the access and caching of control commands, providing a data source for subsequent transmission and processing.

[0171] Control signal acquisition is based on serial communication protocol. By matching the electrical interface and communication protocol of the ground control equipment, the synchronous acquisition and buffering of control commands are realized, the acquisition and access of ground control commands are completed, the conversion and acquisition of the operator's control intentions into electrical signals are realized, and the command data source is provided for uplink transmission.

[0172] d2 encapsulates the ground control signals into frames and performs clock synchronization processing to generate an uplink synchronization data stream.

[0173] Specifically, the acquired serial port control signals are encapsulated in a frame structure, and frame synchronization identifiers, channel identifiers, and check codes are inserted. Then, a clock synchronization field is inserted and phase-locked loop (PLL) calibration is performed to generate a standardized uplink synchronization data stream.

[0174] Uplink signal processing adopts the same frame structure and synchronization processing as downlink signals. Through unified encapsulation format and synchronization calibration, standardized processing for bidirectional transmission is achieved, enabling uplink control signals to have the same transmission format and synchronization characteristics as downlink video signals. Standardized transmission format conversion of control signals is realized, ensuring that uplink control commands and downlink video signals adopt a unified transmission mechanism, simplifying system design and improving the compatibility of bidirectional transmission.

[0175] d3 converts the uplink synchronization data stream into an optical signal through photoelectric conversion and outputs it to the UAV.

[0176] Specifically, the uplink synchronization data stream in electrical signal form is converted into an optical signal by an electro-optical conversion module, and then coupled to the fiber optic link for reverse transmission, so as to realize the long-distance transmission of control commands from the ground control terminal to the UAV terminal.

[0177] The uplink electro-optical conversion uses the same photoelectric conversion principle as the downlink. The intensity of the laser light is modulated by an electrical signal, converting the electrical signal carrying the control command into an optical signal. This is then achieved through bidirectional full-duplex transmission using optical fiber. This completes the conversion of the control signal from electrical to optical, leveraging the transmission characteristics of optical fiber to achieve long-distance, interference-resistant transmission of control commands. It ensures stable and reliable uplink transmission of control commands, forming a complete bidirectional full-duplex communication link with the downlink video signal, guaranteeing the real-time performance and reliability of UAV flight control.

[0178] This invention achieves stable and reliable transmission of ground control commands to the UAV by using the same frame structure and synchronization mechanism as the downlink transmission in the uplink signal processing flow, thus constructing a complete bidirectional full-duplex optical fiber communication link and ensuring the real-time performance of UAV flight control and the continuity of video backhaul.

[0179] Figure 3 A schematic diagram of the UAV signal transmission system provided in this application is shown below. Figure 3 As shown, the UAV signal transmission system provided in this embodiment includes:

[0180] The system includes a drone 101, a signal transmission device 102, and a ground control device 103. The signal transmission device 102 is connected to the drone 101 and the ground control device 103 via optical fibers. The signal transmission device 102 is used to execute the drone signal transmission method as described in the above embodiments.

[0181] In one possible implementation, the signal transmission device 102 includes an air end and a ground end; the air end includes a signal acquisition unit 1021, a time division multiplexing unit 1022, a frame encapsulation unit 1023, a clock synchronization unit 1024, and an electro-optical conversion unit 1025.

[0182] The signal acquisition unit 1021 is used to acquire the signal to be transmitted, which is the video signal and serial port signal output by the UAV; the time division multiplexing unit 1022 is used to integrate the signal to be transmitted according to a preset time slot ratio to obtain a serial data stream; the frame encapsulation unit 1023 is used to encapsulate the serial data stream into a frame structure to generate a frame sequence consisting of multiple data frames, wherein the data frame includes a frame synchronization identifier, a channel identifier, and a check code; the clock synchronization unit 1024 is used to insert a clock synchronization field into the frame sequence at a preset period and perform phase-locked loop calibration on the data sequence after the clock synchronization field is inserted to generate a synchronized data stream; the electro-optical conversion unit 1025 is used to convert the synchronized data stream into an optical signal through photoelectric conversion and output it to the ground control terminal;

[0183] The ground terminal includes a photoelectric conversion unit 1026, a decapsulation unit 1027, and a signal output unit 1028. The photoelectric conversion unit 1026 is used to receive optical signals and convert them back into electrical signals. The decapsulation unit 1027 is used to perform frame synchronization identification, verification, and data decapsulation processing on the electrical signals. The signal output unit 1028 is used to split the video signal and serial port signal according to the channel identifier and output them.

[0184] In one possible implementation, the time-division multiplexing unit 1022 is specifically used for:

[0185] The transmission time period is divided into multiple consecutive time slots according to a preset time length; the video signal is mapped to the first time slot set, and the serial port signal is mapped to the second time slot set, wherein the number of time slots in the first time slot set is greater than that in the second time slot set; a serial data stream is generated based on the time slot mapping result.

[0186] In one possible implementation, the time-division multiplexing unit 1022 is further configured to:

[0187] Obtain signal transmission priority parameters; determine the target time slot ratio corresponding to the first time slot set and the second time slot set according to the preset priority parameters and time slot ratio mapping relationship; adjust the number of time slots in the first time slot set and the second time slot set according to the target time slot ratio; calculate the adjusted time slot ratio based on the adjusted number of time slots; update the preset time slot ratio based on the adjusted time slot ratio.

[0188] In one possible implementation, the time-division multiplexing unit 1022 is further configured to:

[0189] Obtain video signal resolution parameters and control command response delay parameters; perform weighted calculations on the video signal resolution parameters and control command response delay parameters according to preset weights to generate signal transmission priority parameters.

[0190] In one possible implementation, the signal acquisition unit 1021 is further configured to:

[0191] The analog video signal is sampled to obtain a discrete video signal; the discrete video signal is quantized to obtain a quantized level signal; and the quantized level signal is encoded to obtain a digital video signal.

[0192] In one possible implementation, the frame encapsulation unit 1023 is specifically used for:

[0193] A preset bit sequence is inserted at the beginning of each data frame as a frame synchronization identifier; the channel identifier and the data to be transmitted are inserted after the frame synchronization identifier to obtain the frame payload data; the frame payload data is calculated using a cyclic redundancy check algorithm to generate a check code; the check code is appended to the end of the frame payload data to form a complete data frame.

[0194] In one possible implementation, the frame encapsulation unit 1023 is further configured to:

[0195] Error correction codes are embedded in the data segment corresponding to the serial port signal to obtain the encoded frame payload data; the encoded frame payload data is then used for the calculation of the check code.

[0196] In one possible implementation, the method further includes: acquiring a ground control signal, wherein the ground control signal is a serial port control signal; performing frame structure encapsulation and clock synchronization processing on the ground control signal to generate an uplink synchronization data stream; and converting the uplink synchronization data stream into an optical signal through photoelectric conversion and outputting it to the UAV terminal.

[0197] The UAV signal transmission system provided in this embodiment can execute the methods provided in the above-described method embodiments. Its implementation principle and technical effects are similar, and will not be described in detail here.

[0198] Figure 4 A schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device 40 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the electronic device 40 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0199] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above method.

[0200] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0201] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0202] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0203] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0204] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0205] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0206] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0207] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0208] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0209] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0210] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0211] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0212] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0213] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A method for transmitting signals from an unmanned aerial vehicle (UAV), characterized in that, include: Acquire the signal to be transmitted, which is the video signal and serial port signal output by the UAV; The signals to be transmitted are integrated according to a preset time slot ratio to obtain a serial data stream; The serial data stream is encapsulated with a frame structure to generate a frame sequence consisting of multiple data frames, wherein each data frame contains a frame synchronization identifier, a channel identifier, and a checksum. A clock synchronization field is inserted into the frame sequence at a preset period, and a phase-locked loop calibration is performed on the data sequence after the clock synchronization field is inserted to generate a synchronized data stream. The synchronous data stream is converted into an optical signal through photoelectric conversion and output to the ground control terminal.

2. The method according to claim 1, characterized in that, The signals to be transmitted are integrated according to a preset time slot ratio to obtain a serial data stream, including: The transmission time period is divided into multiple consecutive time slots according to a preset time length. The video signal is mapped to a first time slot set, and the serial port signal is mapped to a second time slot set, wherein the number of time slots in the first time slot set is greater than that in the second time slot set; The serial data stream is generated based on the time slot mapping results.

3. The method according to claim 2, characterized in that, Also includes: Obtain signal transmission priority parameters; Based on the preset priority parameters and time slot ratio mapping relationship, the target time slot ratio corresponding to the first time slot set and the second time slot set is determined; Adjust the number of time slots in the first time slot set and the second time slot set according to the target time slot ratio; The adjusted time slot percentage is calculated based on the adjusted number of time slots. The preset time slot ratio is updated based on the adjusted time slot ratio.

4. The method according to claim 3, characterized in that, The acquisition of signal transmission priority parameters includes: Obtain video signal resolution parameters and control command response delay parameters; The signal transmission priority parameter is generated by weighting the video signal resolution parameter and the control command response delay parameter according to preset weights.

5. The method according to claim 1, characterized in that, After acquiring the signal to be transmitted, the following steps are also included: Analog video signals are sampled and processed to obtain discrete video signals; The discrete video signal is quantized to obtain a quantized level signal; The quantized level signal is encoded to obtain a digital video signal.

6. The method according to claim 1, characterized in that, The serial data stream is encapsulated with a frame structure to generate a frame sequence consisting of multiple data frames, including: A preset bit sequence is inserted at the beginning of each data frame as a frame synchronization identifier; The channel identifier and the data to be transmitted are inserted after the frame synchronization identifier to obtain the frame payload data; The checksum is generated by calculating the frame payload data using a cyclic redundancy check algorithm. The checksum is appended to the end of the frame payload data to form a complete data frame.

7. The method according to claim 6, characterized in that, After obtaining the frame payload data, it also includes: Error correction codes are embedded in the data segment corresponding to the serial port signal to obtain the encoded frame payload data. The encoded frame payload data is used for the calculation of the checksum.

8. The method according to claim 1, characterized in that, Also includes: Acquire ground control signals, wherein the ground control signals are serial port control signals; The ground control signal is encapsulated in a frame structure and clocked to generate an uplink synchronization data stream; The uplink synchronous data stream is converted into an optical signal through photoelectric conversion and output to the UAV.

9. A signal transmission system for unmanned aerial vehicles (UAVs), characterized in that, include: Unmanned aerial vehicles (UAVs), signal transmission devices, and ground control devices; The signal transmission device is connected to the UAV and the ground control device via optical fiber, respectively. The signal transmission device is used to perform the UAV signal transmission method as described in any one of claims 1 to 8.

10. The system according to claim 9, characterized in that, The signal transmission device includes an aerial end and a ground end; The sky terminal includes a signal acquisition unit, a time-division multiplexing unit, a frame encapsulation unit, a clock synchronization unit, and an electro-optical conversion unit; The signal acquisition unit is used to acquire the signal to be transmitted, which is the video signal and serial port signal output by the UAV. The time-division multiplexing unit is used to integrate the signal to be transmitted according to a preset time slot ratio to obtain a serial data stream; The frame encapsulation unit is used to encapsulate the serial data stream into a frame structure to generate a frame sequence consisting of multiple data frames, wherein the data frames include a frame synchronization identifier, a channel identifier, and a checksum. The clock synchronization unit is used to insert a clock synchronization field into the frame sequence at a preset period, and to perform phase-locked loop calibration on the data sequence after the clock synchronization field is inserted to generate a synchronized data stream. The electro-optical conversion unit is used to convert the synchronous data stream into an optical signal through photoelectric conversion and output it to the ground control terminal; The ground terminal includes a photoelectric conversion unit, a de-encapsulation unit, and a signal output unit; The photoelectric conversion unit is used to receive the optical signal and convert the optical signal back into an electrical signal; The decapsulation unit is used to perform frame synchronization identification, verification, and data decapsulation processing on the electrical signal; The signal output unit is used to split the video signal and serial port signal according to the channel identifier and output them.

Images