CN101437239A - Real time sensor signal network transmission method based on linear prediction filtering - Google Patents
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Abstract
The invention relates to a real-time sensor signal network transmission method based on linear predictive filtering. The technical proposal is that: a sending end only sends a sampling sequence needed by signal rebuilding, the received sampling sequence is recovered on a receiving end by adopting a linear predictive filtering method, and a source signal is rebuilt by adopting the sequence, thereby building a virtual local sensor of the signal, and a user can acquire a signal sampling estimation value by sampling the virtual local sensor. The method comprises the following steps: a, clock synchronization of the sending end and the receiving end, namely carrying out the clock synchronization of the sending end and the receiving end by adopting average round-trip time of multiple synchronous frames; b, sending optimization of the sampling sequence by the sending end; c, recovery processing of the sampling sequence by the receiving end; and d, signal rebuilding on the receiving end. The method has the advantages of optimizing sending data sequence, reducing network flow needed by data transmission, and ensuring that signal data use and network transmission of signals are separated and a user does not need to directly concern signal network transmission course.
Description
Technical field
The present invention relates to and adopt linear prediction filter to make up virtual-sensor to solve the problem that the real time sensor signal transmits in network, by forecast method alleviate since the loss of data that Network Transmission causes, out of order and error code to the destruction of real time sensor signal.The invention belongs to the interleaving techniques in fields such as computer network, signal processing, computer control.
Background technology
Along with the development of electronic communication and computer networking technology, network control system and sensor network become one of focus of present scientific research.In network control system and the sensor network system, live signal will transmit by network, and the characteristic of network has material impact to the characteristics of signals that user side obtains.Effectively the live signal network transmission technology is one of key technology of exploitation network control system and sensor network system.
The transmission uncertainty that network is introduced, as time-delay, admission control, Dan Bao and problems such as many bag transmission and network congestion, not only greatly influenced real-time, the reliability and stability of network system, also made based on network control system etc. require the Design ﹠ Analysis of System of real-time to become complicated more.The research of live signal Network Transmission has profound significance to the development of network control system and sensor network.
On to real time sensor signals collecting, Network Transmission, user side handling characteristics labor basis, propose the basic ideas that the signal transmission separates with use, and develop real time sensor signal network transmission technology based on linear prediction filtering.Transmitting terminal optimization sends data sequence, receiving terminal reconstruction signal, for the receiving terminal subscriber signal as using from local sensor.The measure error index that interference that processes such as all signals collecting, transmission, reconstruction are introduced or error all are summed up as this virtual local sensor.Its technical meaning is that the user side application program is the Network Transmission problem of direct attention signal again, can directly use traditional method in the processes such as design of Controller of network control system.
Now increasing system is based on computer network platform.In network control system, sensor network, the more so networked real-time systems of network embedded system, live signal need be by complicated Network Transmission.But problems such as computer network, especially environment such as internet and wireless network may occur, and message transmission time-delay is big, delay time is uncertain, data are lost in transmission, make mistakes in the transfer of data, the data dislocation time of advent.These problems are very big to based on network real-time system influence, and functional characteristic of system own and network characteristic are coupled, and make the design analysis of system become more complicated, and this is a big obstacle that hinders based on network real-time system technical development.
Summary of the invention
The objective of the invention is to overcome the problems referred to above that prior art exists, a kind of real time sensor signal network transmission method based on linear prediction filtering is provided, to alleviate owing to the harmful effect that transmission causes to the real time sensor signal of network uncertainty, particularly in the Internet and wireless network environment.Construct a kind of brand-new real time sensor signal network mode---transmitting terminal only sends the sampled point sequence that supporting signal is rebuild, and the receiving terminal reconstruction signal makes up the virtual local sensor of this signal, and the user is by virtual local sensor picked up signal.
Above-mentioned purpose of the present invention is achieved through the following technical solutions, and accompanying drawings is as follows:
A kind of real time sensor signal network transmission method based on linear prediction filtering, transmitting terminal only sends the sample sequence that signal reconstruction needs, utilize the linear prediction filtering method to recover the sample sequence that receives at receiving terminal, and utilize this sequence to rebuild source signal, make up the virtual local sensor of this signal thus, the user is by estimated value that virtual local sensor sampling picked up signal is sampled, and concrete steps comprise:
A) clock synchronization of transmitting terminal and receiving terminal utilizes average round-trip time of a plurality of synchronization frames to carry out the clock synchronization of transmitting terminal and receiving terminal;
B) transmitting terminal sends sample sequence optimization: determine whether to send according to the recovery needs of sampling at receiving terminal at transmitting terminal, and carry out chnnel coding;
C) the receiving terminal sample sequence recovers to handle: receiving terminal utilizes sampling sequence number, timestamp and network latency standard deviation to judge sampling arrival situation, and takes corresponding recovery measure at different situations;
D) receiving end signal is rebuild: on the basis of the sample sequence after the recovery, utilize the uniform sampling theorem that source signal is rebuild, in the application process of reality, utilize interpolating function to carry out interpolation at the time point of user expectation, obtain the signal sampling estimated value.
The present invention be directed to the comparatively level and smooth characteristic of real time sensor signal in the network control, the linear prediction filtering theory combined with channel coding technology makes up virtual local sensor system, thereby the uncertainty of Network Transmission is converted into the uncertainty of system model.On system configuration, (consult Fig. 1),, the transmission of signal is separated with use by making up virtual local sensor.From user's angle, network is transparent, and remote sensor signal seems the same from a virtual local sensor output.The harmful effect that produces in the network transmission process is converted into the error of local virtual sensor signal.The user needn't consider complicated network characteristic, and only need pay close attention to the output error of virtual local sensor.Alleviate the adverse consequences that the Network Transmission uncertainty causes by forecast method, improve the real-time of signal transmission.
Virtual local sensor error is caused by various time-delays, error of transmission and computing, comprises the error of the sum of errors reconstruction signal sample quantization that the quantization error, receiving end signal of transmitting terminal sensing data are recovered etc.Cause the reason of real time sensor signal lag to have: time-delay that signal processing causes (comprising the extra time-delay that signal sampling, quantification and virtual sensor process model are introduced) and Network Transmission time-delay.Because the present invention adopts predicted value to replace the signal sampling value that postpones, so from the not time-delay of use angle of signal, and time-delay is converted into sensor errors to the influence of system's generation.
Principle of the present invention and message source and channel combined coding technology type be seemingly: promptly at first screen the sensor sample signal, send selectively.What send no longer is the data that the user directly uses, but the sampled data of the undistorted recovery source signal of energy has significantly reduced volume of transmitted data.This process is equivalent to the sensor sample signal is carried out " compression ", and its purpose is identical with source encoding.Then the data that will send are carried out chnnel coding, arrive receiving terminal by Network Transmission.Carry out channel-decoding by receiving terminal at last, and utilize the priori of known source signal and linear prediction filtering algorithm that signal is rebuild---" decompression ".The user obtains expecting sampled data constantly after the signal after rebuilding is sampled.Core concept of the present invention is: the influence that one side adopts the uncertainty of linear prediction filtering theory alleviation Network Transmission to cause, and by " compression " signal sampling raising communication efficiency; Adopt channel coding technology to guarantee the reliability of communication on the other hand, certain this reliability guarantees by increasing redundant digit.This just requires with the unified consideration of above-mentioned two kinds of technology, to reach the balance of system real time and reliability.
Its advantage is mainly reflected in two aspects, and one is to optimize to send data sequence, reduces the required network traffics of transfer of data, and reduction is to the bandwidth demand of network or improving real-time and reliability under same network bandwidth condition; The 2nd, signal data is used separate with the Network Transmission of signal, make directly attention signal Network Transmission of user, only need Application and Development system on the output signal basis of virtual local sensor, can reduce the difficulty of analyzing with design greatly.Virtual local sensor model structure such as Fig. 1.
The present invention adopts the linear prediction filtering theory to combine with channel coding technology to make up the transmission problem of the method research live signal of virtual local sensor, proposes a kind of new real time sensor signal network mode.Real time sensor signal network transmitting software by independent development is tested constructed virtual local sensor, the applicability of the checking method that proposes.Its innovative point is as follows:
1. with signal processing method research real time sensor signal network transmission problem, proposing linear prediction filtering theory and channel coding technology combined solves the method for real time sensor signal network transmission problem; Start with from the characteristic of sensor signal, with real time sensor signal sampling " compression " and carry out transmitting after the chnnel coding, receiving terminal is predicted restoration and reconstruction source signal and resampling.Can alleviate the adverse consequences that the network uncertainty is brought on the one hand, guarantee to improve signal reliability to greatest extent on the real-time basis; Can reduce offered load on the other hand, improve channel utilization, save system cost.
2. by making up virtual local sensor, the uncertainty of Network Transmission is converted into the uncertainty of system model, transmission error that the network uncertainty is caused and predicated error are unified on this basis handles, as the output error of virtual local sensor.Make that control system research method and robust control technique become possibility in the direct application of network control system under the ripe non-network environment.
Beneficial effect: the present invention combines the linear prediction filtering theory and makes up virtual local sensor system with channel coding technology, thereby the uncertainty of Network Transmission is converted into the uncertainty of system model.Its objective is in order to alleviate because the real time sensor signal that the network uncertainty causes transmits harmful effect, particularly in the Internet and wireless network environment.
The research of existing live signal Network Transmission mostly is towards the method for specific environment or application (audio/video signal), and versatility is relatively poor.On the one hand, improve the network bandwidth and conversion speed merely and can't fundamentally solve the uncertain problem of live signal in Network Transmission; On the other hand, use high-speed dsp processor and high-precision sensor, and it is higher to build the cost of private wire network, has hindered the application of network control system.Time-delay and the error brought with the prior art networking are inevitable, this just requires to improve on the one hand the speed of Network Transmission and signal processing, start with from the live signal self character on the other hand, utilize signal processing theory research live signal Network Transmission problem.
On characteristics of signals, the audio/video signal has been compared very big-difference with sensor signal.The audio/video signal has a plurality of frequency bands, chaotic from waveform general the branch.After sensor signal leached through noise, frequency was single relatively, and waveform is comparatively level and smooth.From use angle, correlation degree is very little between the sensor sample signal, and the sampling of each sensor signal all has the use meaning, and as in network control system, controller needs the sampled signal values in the up-to-date moment to generate controlled quentity controlled variable.The audio/video signal sampling has relevance, and single audio/video signal sampling has little significance for the user, and what the user more was concerned about is whole audio visual effect.
In the data of finding at present, do not find to utilize the work of linear prediction filtering theory research real time sensor signal network transmission problem to deliver.In Related Research Domain such as Control Network, sensor network, propose to adopt the Network Transmission problem of signal processing way of thinking research live signal in indivedual methods.When discussing potential applications of linear prediction filtering, indivedual documents mention in the very big network environment of propagation delay time, the potential application feasibility of prediction smooth signal, but do not see that all concrete research work delivers both at home and abroad.
Employing can take into account the reliability of sensor signal, and save the network bandwidth to a certain extent in the real-time that guarantees sensor signal effectively based on the real time sensor signal network transmission method of linear prediction filtering theory.The experiment that is to use this method to carry out below at real sensor signal network transmission problem.
Use car with certain domestic car as test, given here is block selecting signal, throttle opening, engine rotational speed signal.With the echo signal of these signals as transmission, the transmission that mixes network via IPv4 and IPv6 arrives server end, by the server reconstruction signal and with distance sensor in the signal that writes down be analyzed, reach a conclusion at last.Sampling time is 0.01 second, adopts the FIR linear prediction filter here.Table 1 is experiment parameter and error.
Table 1 experiment parameter and error
Result from above contrast experiment, can obtain as drawing a conclusion: after the real time sensor signal network transmission method of employing linear prediction filtering theory makes up virtual local sensor, offered load reduces, because the error that the Network Transmission uncertainty causes is remedied to a certain extent.
Description of drawings
Fig. 1 is based on the real time sensor signals transmission schematic diagram of linear prediction filter.
Fig. 2 is based on the virtual local sensor structure of signal reconstruction.
Fig. 3 real vehicle experimental result schematic diagram (block selecting signal) (a) is primary signal, (b) is virtual local sensor output signal, (c) is the reconstruction signal that directly sends sampled signal, and (d) is (b) and (c) error curve of each time point bottom.
Fig. 4 real vehicle experimental result schematic diagram (throttle opening) (a) is primary signal, (b) is virtual local sensor output signal, (c) is the reconstruction signal that directly sends sampled signal, and (d) is (b) and (c) error curve of each time point bottom.
Fig. 5 real vehicle experimental result schematic diagram (engine rotational speed signal) (a) is primary signal, (b) is virtual local sensor output signal, (c) is the reconstruction signal that directly sends sampled signal, and (d) is (b) and (c) error curve of each time point bottom.
Fig. 6 transmitting terminal process chart.
Fig. 7 receiving terminal process chart.
Embodiment
Further specify particular content of the present invention below in conjunction with the accompanying drawing illustrated embodiment:
A kind of real time sensor signal network transmission method based on linear prediction filtering, transmitting terminal only sends the sample sequence that signal reconstruction needs, utilize the linear prediction filtering method to recover the sample sequence that receives at receiving terminal, and utilize this sequence to rebuild source signal, make up the virtual local sensor of this signal thus, the user is by estimated value that virtual local sensor sampling picked up signal is sampled, and concrete steps comprise:
A) clock synchronization of transmitting terminal and receiving terminal utilizes average round-trip time of a plurality of synchronization frames to carry out the clock synchronization of transmitting terminal and receiving terminal;
B) transmitting terminal sends sample sequence optimization: determine whether to send according to the recovery needs of sampling at receiving terminal at transmitting terminal, and carry out chnnel coding;
C) the receiving terminal sample sequence recovers to handle: receiving terminal utilizes sampling sequence number, timestamp and network latency standard deviation to judge sampling arrival situation, and takes corresponding recovery measure at different situations;
D) receiving end signal is rebuild: on the basis of the sample sequence after the recovery, utilize the uniform sampling theorem that source signal is rebuild, in the application process of reality, utilize interpolating function to carry out interpolation at the time point of user expectation, obtain the signal sampling estimated value.
The clock synchronization of described transmitting terminal and receiving terminal may further comprise the steps:
A) transmitting terminal sends synchronization request earlier, and receiving terminal receives that the back computing postpones, and should value be back to transmitting terminal with synchronous response frame;
B) the transmitting terminal calculating initialization moment and transmitting terminal receive the difference in the moment of response, and the processing delay of this difference and receiving terminal is subtracted each other, and obtain this sync frame transmission time divided by 2;
C) utilize the expectation formula be evenly distributed to solve the desired values of a plurality of sync frame transmission times, as network latency;
D) find the solution the standard deviations of a plurality of sync frame transmission times, this standard deviation is represented the mean error of clock synchronization, or as the threshold value of judging receiving end signal sampling no show situation;
E) last transmitting terminal sends the local system time to receiving terminal, and receiving terminal adds network latency to this time, as the current system time of this locality, has so far finished the clock synchronization of transmitting terminal and receiving terminal.
Described transmitting terminal sends sample sequence optimization and may further comprise the steps:
A) the transmitting system time is transmitted the sampling flag bit with beginning, up to the answer of receiving receiving terminal;
B) use band pass filter that raw sensor signal is carried out noise filtering, obtain source signal;
C) source signal is carried out uniform sampling and obtain sample sequence, it is quantized the sampled signal sequence that obtains quantizing according to embedded storage constraint;
D) initialization linear prediction filter, and obtain the expectation predicated error of user's input; Be not more than the sampling of linear prediction filter length for sequence number, logging timestamp and sampling sequence number carry out sending Frame after the chnnel coding;
E) for the sampling of sequence number greater than linear prediction filter length, logging timestamp, the sampled data of utilizing the linear prediction filter prediction to send, and the difference of calculating predicted value and actual value; If this difference is in expectation predicated error scope, and the signal curve rate of change satisfies certain numerical value, then carry out sending Frame after the chnnel coding.
Described receiving terminal sampling recovers to handle and may further comprise the steps:
A) receive the Frame that Network Transmission is come, resolve and utilize channel-decoding, obtain sampling time and transmission sampling flag bit; Select linear prediction filter and initialization;
B) be not more than the sampling of linear prediction filter length for sequence number, the Frame that receiving terminal receives is resolved, extract sampled data, timestamp and sampling sequence number, it is carried out channel-decoding, correct sampled data; If do not receive sampled data, just replace with the sampled data that receives recently; If all do not receive, then prediction of failure withdraws from.
C), utilize sampling sequence number, timestamp and network latency standard deviation to judge whether sampled data needs to recover for the sampling of sequence number greater than linear prediction filter length; Recover if desired, handle respectively according to receiving end signal sampling no show reason.
Described receiving end signal sampling no show reason and respective handling method comprise following 5 kinds of situations:
A) this signal sampling is not sent out, and processing method is to utilize linear prediction filter that this sampled signal is predicted, predicted value is joined in the receiving sequence;
B) admission control, processing method is a) identical with situation;
C) data frame delays, processing method are divided into two stages: before the delayed data frame does not arrive, predict this sampled value; After the delayed data frame arrives, replace this sampled value of having predicted with true value;
D) Frame dislocation, promptly the sampled data that sends earlier is later than the sampled data arrival receiving terminal that the back sends, processing method is divided into two steps: before the dislocation frame is not received, predict this sampled value, if occur the situation of sampling no show afterwards again, linear prediction filter will use this predicted value to carry out other predictions; After the dislocation frame arrives, must utilize this sampled value to replace the predicted value of this sampling in the receiving sequence, revise other sampling predicted values that influenced by this predicted value, and upgrade receiving sequence;
E) error code mistake, processing method is a) identical with situation.
Described receiving end signal is rebuild and is comprised: select interpolating function, use during interpolation with the linear prediction filtering algorithm in identical low order multinomial carry out piecewise interpolation.
(1) clock synchronization of transmitting terminal and receiving terminal
Utilize average round-trip time of a plurality of synchronization frames to carry out the clock synchronization of transmitting terminal and receiving terminal.Concrete grammar: transmitting terminal sends synchronization request earlier, and receiving terminal receives that the back computing postpones, and should value be back to transmitting terminal with synchronous response frame; Transmitting terminal calculate initialization constantly and transmitting terminal receive the difference in the moment of response, the processing delay of itself and receiving terminal is subtracted each other, promptly obtain this sync frame transmission time divided by 2; The expectation formula that utilization is evenly distributed solves the desired value in a plurality of frame transmission times, as network latency; Find the solution the standard deviation of a plurality of sync frame transmission times, represent the mean error of clock synchronization on the one hand, can be used as the threshold value of judging the uncertain situation of Network Transmission on the other hand; Last transmitting terminal sends the local system time to receiving terminal, and receiving terminal adds network latency to this time, as the current system time of this locality.So far finished the clock synchronization of transmitting terminal and receiving terminal.
(2) transmitting terminal sends data sequence optimization
Determine whether to send its flow process such as Fig. 6 according to the recovery needs of sampling at transmitting terminal at receiving terminal.Concrete steps are as follows:
Step 1: the transmitting system time is transmitted the sampling flag bit with beginning, up to the answer of receiving receiving terminal;
Step 2: use band pass filter that raw sensor signal is carried out noise filtering, obtain source signal;
Step 3: source signal is carried out uniform sampling obtain sample sequence, it is quantized the sampled signal sequence that obtains quantizing according to embedded storage constraint;
Step 4: the initialization linear prediction filter, and obtain the expectation predicated error of user's input; Be not more than the sampling of linear prediction filter length, logging timestamp and sampling sequence number for sequence number; Carry out sending Frame after the chnnel coding;
Step 5: for the sampling of sequence number greater than linear prediction filter length, logging timestamp, the sampled data of utilizing the linear prediction filter prediction to send, and the difference of calculating predicted value and actual value; If this difference is in expectation predicated error scope, and the signal curve rate of change satisfies certain numerical value, then carry out sending Frame after the chnnel coding;
(3) the receiving terminal Frame is handled
At receiving terminal, according to the sampling no show to following five kinds of situations are arranged:
Situation 1: this signal sampling is not sent out.Processing method is to utilize linear prediction filter that this sampled signal is predicted, predicted value is joined in the receiving sequence.
Situation 2: admission control.Processing method is identical with situation 1.
Situation 3: data frame delays.Processing method is divided into two stages: before the delayed data frame does not arrive, predict this sampled value; After the delayed data frame arrives, replace this sampled value of having predicted with actual value.
Situation 4: the Frame dislocation, the sampled data that sends after promptly the sampled data that sends earlier is later than arrives receiving terminal.Processing method is divided into two steps: before the dislocation frame is not received, predict this sampled value, if occur the situation of sampling no show afterwards again, linear prediction filter will use this predicted value to carry out other predictions; After the dislocation frame arrives, must utilize this sampled value to replace the predicted value of this sampling in the receiving sequence, revise other sampling predicted values that influenced by this predicted value, and upgrade receiving sequence.
Situation 5: error code mistake.Processing method is identical with situation 1.
Receiving terminal flow chart such as Fig. 7.Concrete steps are as follows:
Step 1: receive the Frame that Network Transmission is come, resolve and utilize channel-decoding, obtain sampling time and transmission sampling flag bit; Select linear prediction filter and initialization;
Step 2: be not more than the sampling of linear prediction filter length for sequence number, the Frame that receiving terminal receives is resolved, extract sampled data, timestamp and sampling sequence number, utilize the channel algorithm decoding, correct sampled data; If do not receive sampled data, just replace with the sampling numerical value that receives recently; If all do not receive, then prediction of failure withdraws from.
Step 3:, utilize sampling sequence number and Time Triggered device to judge whether sampled data needs to recover for the sampling of sequence number greater than linear prediction filter length; Recover if desired, handle respectively according to data no show reason.
At situation 1,2,5, utilize linear prediction filter that the sampled data that does not receive is predicted;
At situation 3, before the delayed data frame is not received, utilize linear prediction filter that the sampled data that does not receive is predicted; After the delayed data frame is received, replace original predicted value with actual value;
At situation 4, before not receiving Frame, utilize linear prediction filter that the sampled data that does not receive is predicted, predict if desired that after this other no show sampled datas use this numerical value; After the dislocation Frame is received, replace original predicted value with actual value, for the sampling numerical value of having predicted in carving at this moment, with actual value forecast updating again;
(4) receiving end signal is rebuild
Select interpolating function, utilize the sampling numerical value that has recovered to carry out the signal reduction.What receiving terminal obtained, comprise prediction data and receive data, be the point on the non-homogeneous discrete time axle, these time points not necessarily receiving terminal user will use.Therefore, in the reference time data that the user uses, use interpolating function to carry out piecewise interpolation, output signal is carried out resampling for these.
Thus, be equivalent to construct a virtual local sensor at receiving terminal, the receiving terminal user can sample to this sensor signal and obtain the data in the required moment.
Claims (6)
1. real time sensor signal network transmission method based on linear prediction filtering, it is characterized in that transmitting terminal only sends the sample sequence of signal reconstruction needs, utilize the linear prediction filtering method to recover the sample sequence that receives at receiving terminal, and utilize this sequence to rebuild source signal, make up the virtual local sensor of this signal thus, the user is by estimated value that virtual local sensor sampling picked up signal is sampled, and concrete steps comprise:
A) clock synchronization of transmitting terminal and receiving terminal utilizes average round-trip time of a plurality of synchronization frames to carry out the clock synchronization of transmitting terminal and receiving terminal;
B) transmitting terminal sends sample sequence optimization: determine whether to send according to the recovery needs of sampling at receiving terminal at transmitting terminal, and carry out chnnel coding;
C) the receiving terminal sample sequence recovers to handle: receiving terminal utilizes sampling sequence number, timestamp and network latency standard deviation to judge sampling arrival situation, and takes corresponding recovery measure at different situations;
D) receiving end signal is rebuild: on the basis of the sample sequence after the recovery, utilize the uniform sampling theorem that source signal is rebuild, in the application process of reality, utilize interpolating function to carry out interpolation at the time point of user expectation, obtain the signal sampling estimated value.
2. according to the described real time sensor signal network transmission method of claim 1, it is characterized in that the clock synchronization of described transmitting terminal and receiving terminal may further comprise the steps based on linear prediction filtering:
A) transmitting terminal sends synchronization request earlier, and receiving terminal receives that the back computing postpones, and should value be back to transmitting terminal with synchronous response frame;
B) the transmitting terminal calculating initialization moment and transmitting terminal receive the difference in the moment of response, and the processing delay of this difference and receiving terminal is subtracted each other, and obtain this sync frame transmission time divided by 2;
C) utilize the expectation formula be evenly distributed to solve the desired values of a plurality of sync frame transmission times, as network latency;
D) find the solution the standard deviations of a plurality of sync frame transmission times, this standard deviation is represented the mean error of clock synchronization, or as the threshold value of judging receiving end signal sampling no show situation;
E) last transmitting terminal sends the local system time to receiving terminal, and receiving terminal adds network latency to this time, as the current system time of this locality, has so far finished the clock synchronization of transmitting terminal and receiving terminal.
3. according to the described real time sensor signal network transmission method of claim 1, it is characterized in that described transmitting terminal sends sample sequence optimization and may further comprise the steps based on linear prediction filtering:
A) the transmitting system time is transmitted the sampling flag bit with beginning, up to the answer of receiving receiving terminal;
B) use band pass filter that raw sensor signal is carried out noise filtering, obtain source signal;
C) source signal is carried out uniform sampling and obtain sample sequence, it is quantized the sampled signal sequence that obtains quantizing according to embedded storage constraint;
D) initialization linear prediction filter, and obtain the expectation predicated error of user's input; Be not more than the sampling of linear prediction filter length for sequence number, logging timestamp and sampling sequence number carry out sending Frame after the chnnel coding;
E) for the sampling of sequence number greater than linear prediction filter length, logging timestamp, the sampled data of utilizing the linear prediction filter prediction to send, and the difference of calculating predicted value and actual value; If this difference is in expectation predicated error scope, and the signal curve rate of change satisfies certain numerical value, then carry out sending Frame after the chnnel coding.
4. the real time sensor signal network transmission method based on linear prediction filtering according to claim 1 is characterized in that the receiving terminal sampling recovers processing and may further comprise the steps:
A) receive the Frame that Network Transmission is come, resolve and utilize channel-decoding, obtain sampling time and transmission sampling flag bit; Select linear prediction filter and initialization;
B) be not more than the sampling of linear prediction filter length for sequence number, the Frame that receiving terminal receives is resolved, extract sampled data, timestamp and sampling sequence number, it is carried out channel-decoding, correct sampled data; If do not receive sampled data, just replace with the sampled data that receives recently; If all do not receive, then prediction of failure withdraws from.
C), utilize sampling sequence number, timestamp and network latency standard deviation to judge whether sampled data needs to recover for the sampling of sequence number greater than linear prediction filter length; Recover if desired, handle respectively according to receiving end signal sampling no show reason.
5. the real time sensor signal network transmission method based on linear prediction filtering according to claim 4 is characterized in that described receiving end signal sampling no show reason and respective handling method comprise following 5 kinds of situations:
A) this signal sampling is not sent out, and processing method is to utilize linear prediction filter that this sampled signal is predicted, predicted value is joined in the receiving sequence;
B) admission control, processing method is a) identical with situation;
C) data frame delays, processing method are divided into two stages: before the delayed data frame does not arrive, predict this sampled value; After the delayed data frame arrives, replace this sampled value of having predicted with actual value;
D) Frame dislocation, promptly the sampled data that sends earlier is later than the sampled data arrival receiving terminal that the back sends, processing method is divided into two steps: before the dislocation frame is not received, predict this sampled value, if occur the situation of sampling no show afterwards again, linear prediction filter will use this predicted value to carry out other predictions; After the dislocation frame arrives, must utilize this sampled value to replace the predicted value of this sampling in the receiving sequence, revise other sampling predicted values that influenced by this predicted value, and upgrade receiving sequence;
E) error code mistake, processing method is a) identical with situation.
6. according to claim 1 or 4 described real time sensor signal network transmission methods based on linear prediction filtering, it is characterized in that described receiving end signal reconstruction comprises: utilize the sample sequence after the receiving terminal sampling recovers to handle, select interpolating function to carry out piecewise interpolation.
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| CN105872566A (en) * | 2011-01-12 | 2016-08-17 | 三菱电机株式会社 | Image encoding device, image decoding device, image encoding method, and image decoding method |
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| CN105228178B (en) * | 2015-08-31 | 2018-11-23 | 中国运载火箭技术研究院 | A kind of aircraft environment parameter detecting system and detection method based on wireless communication |
| CN110535650A (en) * | 2018-05-23 | 2019-12-03 | 罗伯特·博世有限公司 | Method and apparatus for being verified to the message by bus transfer |
| CN108803335A (en) * | 2018-06-25 | 2018-11-13 | 南京邮电大学 | A kind of out of order removing method of DC servo motor control |
| CN108803335B (en) * | 2018-06-25 | 2021-05-11 | 南京邮电大学 | Method for eliminating control disorder of direct current servo motor |
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