CN106230913B - Data processing transmission method and device - Google Patents
Data processing transmission method and device Download PDFInfo
- Publication number
- CN106230913B CN106230913B CN201610592693.7A CN201610592693A CN106230913B CN 106230913 B CN106230913 B CN 106230913B CN 201610592693 A CN201610592693 A CN 201610592693A CN 106230913 B CN106230913 B CN 106230913B
- Authority
- CN
- China
- Prior art keywords
- data
- control equipment
- loading device
- flying control
- queue
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/70—Admission control; Resource allocation
- H04L47/78—Architectures of resource allocation
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Selective Calling Equipment (AREA)
Abstract
The present invention provides a kind of data processing transmission method and device, in this method, when receiving data flow, several data frames can be split as and unified encapsulate the data processing transmission device for being sent to opposite end；In the data frame that the data processing transmission device for receiving opposite end is sent, data frame can be spliced into data flow again again and be sent to corresponding flying control equipment and each loading device, to realize that flying control equipment and loading device in unmanned plane side flying control equipment and each loading device and ground side can be carried out the transmission of data merely with a set of data processing transmission device, the volume and weight of UAV system is effectively reduced.Furthermore, since the data that flying control equipment and loading device transmit are considered as data flow by data processing transmission device, and it is split as data frame transmission, so that data communication process is unrelated with the format of data, therefore the transmission of any data format can be supported, so as to meet aircraft and load the needs of arbitrarily arranging in pairs or groups.
Description
Technical field
The invention belongs to field of communication technology, in particular to a kind of data processing transmission method and device.
Background technique
Unmanned plane is that a kind of figure is smaller, unmanned, can realize in the sky autonomous flight and execute certain task
Aircraft.For unmanned plane compared with conventional airplane, structure is simply at low cost, convenient for manufacture and maintenance.Since unmanned plane uses nobody
Driving technology, thus its with biggish payload capability, (load here refers to various task devices, such as video camera, thunder
Up to etc.), more equipment or weapon can be installed.The load control in UAV system and unmanned aerial vehicle (UAV) control are two points at present
Other autonomous system.Wherein, the flight control (hereinafter referred to as flying control) of unmanned aerial vehicle platform, which needs to transmit by data, (hereinafter referred to as counts
Pass) it is communicated with the flying-controlled box of earth station, load, which is also required to pass by number, controls software communication with the load of earth station.Number
The form of biography is generally serial ports radio station, and a serial ports radio station can only be connect with an equipment, can not make simultaneously for multiple equipment
With.This allows for multiple load that unmanned plane is carried with it can not send message to the ground simultaneously.
In view of the foregoing, in order to enable multiple load that unmanned plane is carried with it can send message to the ground simultaneously connects
The control at place end is received, mainly uses following several method: first method: as shown in Figure 1, can install more in the prior art
Set digital transmission module is respectively used to multiple load of unmanned plane and carrying and ground carries out several biographies, forms more completely self-contained systems of set
System.Second method: the related soft of program is controlled to control ground is flown as shown in Fig. 2, unmanned aerial vehicle platform can be modified and fly control program
Load relevant information is incorporated and flies control communication protocol by part.In this way, only need to use a digital transmission module that can realize the logical of load
Telecommunication function.
However all there is respective defects for the above method, specifically:
For first method, number biography is carried out using multiple digital transmission modules and be easy to cause air wireless channel to gather around first
It is stifled.And will definitely increase the volume and weight of system with multiple digital transmission modules, the size for being unfavorable for unmanned plane reduces.Simultaneously
Multiple digital transmission modules also result in power consumption increase, are unfavorable for unmanned plane and continue a journey for a long time.In addition, can also to manufacture and tie up
Shield is multiplied, and influences the stability of system.
For second method, load relevant information is incorporated into winged control communication protocol and needs to carry out one to flying-controlled box
Fixed exploitation.For same frame unmanned plane, the communication protocol that the different loads carried use is different, it is therefore desirable to each load
Carry out specific aim exploitation.In addition, the agreement of load often changes, therefore just need the often modification higher winged control of security level
Program, this allows for the higher cost of modification.For the same load, if to be run on different aircrafts, it is necessary to repair
Change corresponding winged control program；And the user of general unmanned plane does not have exploitation flying-controlled box ability, this result in aircraft and
Load can not flexibly arrange in pairs or groups, therefore not adapt to the demand that aircraft is frequently arbitrarily arranged in pairs or groups with load.
Summary of the invention
The present invention provides a kind of data processing transmission method and devices, for solving at least one above-mentioned technical problem.
In a first aspect, the present invention provides a kind of data processing transmission methods, comprising:
Data processing transmission device, will when receiving the data flow that flying control equipment and each loading device are sent respectively
The data flow is stored in transmit queue；It, will when detecting the trigger action for sending the data flow in currently transmitted queue
The flying control equipment and the corresponding data flow of each loading device stored in currently transmitted queue is split as several data frames, and
Several described data frames are set by the data management for being transferred to opposite end after the encapsulation of preset frame format in a time multiplexed manner
It is standby；
Data processing transmission device is in the data frame that the data processing transmission device for receiving opposite end is sent, by the number
It is stored in receiving queue according to frame；When detecting the trigger action for sending the data frame in current receiving queue, according to current
Period and flying control equipment and each loading device of each data frame stored in receiving queue where in transmission it is corresponding
The data frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device by relationship；
Wherein,
The data processing transmission device, flying control equipment and loading device are located at unmanned plane side；
Or, the data processing transmission device, flying control equipment and loading device are located at ground control side.
Optionally, described when detecting the trigger action for sending the data flow in currently transmitted queue, by flying control equipment
And the corresponding data flow of each loading device is split as several data frames, and several described data frames are pressed preset frame
The step of being transferred to the data management apparatus of opposite end in a time multiplexed manner after format encapsulation, comprising:
When it is object time node that detection is by the current time of timers trigger, flying control equipment and each load are set
Standby corresponding data flow is split as several data frames, and will several described data frames by after the encapsulation of preset frame format with when
The data management apparatus for dividing the mode of multiplexing to be transferred to opposite end；
And/or
When detecting that the data of the transmit queue storage reach preset threshold value, by flying control equipment and each load
The corresponding data flow of equipment is split as several data frames, and will several described data frames by after the encapsulation of preset frame format with
Time-multiplexed mode is transferred to the data management apparatus of opposite end.
Optionally, the method also includes: empty the transmit queue.
Optionally, described when detecting the trigger action for sending the data flow in current receiving queue, according to currently connecing
Receive the corresponding pass of each data frame stored in queue the period where in transmission and flying control equipment and each loading device
System, is spliced into the step of corresponding data flow is sent to flying control equipment and each loading device for the data frame, comprising:
When it is object time node that detection is by the current time of timers trigger, flying control equipment and each load are set
Standby corresponding data flow is split as several data frames, according to each data frame stored in current receiving queue in transmission when institute
Period and flying control equipment and each loading device corresponding relationship, the data frame is spliced into corresponding data flow and is sent out
Give flying control equipment and each loading device；
And/or
When detecting that the data of the receiving queue storage reach preset threshold value, by flying control equipment and each load
The corresponding data flow of equipment is split as several data frames, according to each data frame stored in current receiving queue in transmission
The corresponding relationship of the period at place and flying control equipment and each loading device, are spliced into corresponding data flow for the data frame
It is sent to flying control equipment and each loading device.
Optionally, the method also includes: empty the receiving queue.
Second aspect, the present invention also provides a kind of data processing transmitting devices, comprising:
Storage unit is received, for when receiving the data flow that flying control equipment and each loading device are sent respectively,
The data flow is stored in transmit queue；
Transmission unit is handled, for that will work as when detecting the trigger action for sending the data flow in currently transmitted queue
The flying control equipment and the corresponding data flow of each loading device stored in preceding transmit queue is split as several data frames, and will
Several described data frames are transferred to opposite end in a time multiplexed manner data processing after encapsulating by preset frame format is transmitted
Device；
The reception storage unit is also used in the data frame that the data processing transmitting device for receiving opposite end is sent,
The data frame is stored in receiving queue；
The processing transmission unit is also used to detecting the trigger action for sending the data frame in current receiving queue
When, according to each data frame stored in current receiving queue transmission when where period and flying control equipment and each load
The data frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device by the corresponding relationship of equipment；
Wherein,
The data processing transmitting device, flying control equipment and loading device are located at unmanned plane side；
Or, the data processing transmitting device, flying control equipment and loading device are located at ground control side.
Optionally, the processing transmission unit is also used in detection be the object time by the current time of timers trigger
When node, flying control equipment and the corresponding data flow of each loading device are split as several data frames, and will be described several
A data frame is transferred to the data processing transmitting device of opposite end in a time multiplexed manner after encapsulating by preset frame format；
And/or
The processing transmission unit is also used to reach preset threshold value in the data for detecting that the transmit queue stores
When, flying control equipment and the corresponding data flow of each loading device are split as several data frames, and by several numbers
According to frame by the data processing transmitting device for being transferred to opposite end after the encapsulation of preset frame format in a time multiplexed manner.
Optionally, the processing transmission unit, is also used to empty the transmit queue.
Optionally, the processing transmission unit is also used in detection be the object time by the current time of timers trigger
When node, flying control equipment and the corresponding data flow of each loading device are split as several data frames, received according to current
The corresponding relationship of period and flying control equipment and each loading device of each data frame stored in queue where in transmission,
The data frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device；
And/or
The processing transmission unit is also used to reach preset threshold value in the data for detecting that the receiving queue stores
When, flying control equipment and the corresponding data flow of each loading device are split as several data frames, according to current receiving queue
The corresponding relationship of period and flying control equipment and each loading device of each data frame of middle storage where in transmission, by institute
It states data frame and is spliced into corresponding data flow and be sent to flying control equipment and each loading device.
Optionally, the processing transmission unit, is also used to empty the receiving queue.
The present invention provides a kind of data processing transmission method and device, in this method, data processing transmission device is being connect
When receiving the data flow of the transmission of ipsilateral flying control equipment and each loading device, data flow can be split as to several numbers
According to frame, and unified encapsulation is sent to the data processing transmission device of opposite end by a link；At the data for receiving opposite end
Manage transmission device send data frame when, and data frame can be spliced into again data flow be sent to corresponding flying control equipment with
And each loading device, to realize the flying control equipment in unmanned plane side flying control equipment and each loading device and ground side
The transmission that can be carried out data merely with a set of data processing transmission device with loading device, effectively reduces UAV system
Volume and weight reduces conducive to the size of unmanned plane, and then can save unmanned plane energy consumption, improves its cruising ability.In addition, by
The data that flying control equipment and each loading device transmit are considered as data flow in data processing transmission device, and are split as counting
It is sent according to frame, so that data communication process is unrelated with the format of data, therefore can support the transmission of any data format,
So as to meet aircraft and load the needs of arbitrarily arranging in pairs or groups.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Example for those of ordinary skill in the art without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that a kind of unmanned plane and ground data handle transmission method schematic diagram in the prior art；
Fig. 2 is that another unmanned plane and ground data handle transmission method schematic diagram in the prior art；
Fig. 3 is a kind of data processing transmission method flow chart provided by the invention；
Fig. 4 is data processing transmission method device structure schematic diagram provided by the invention；
Fig. 5 is that a kind of unmanned plane provided by the invention and ground data handle transmission method schematic diagram；
Fig. 6 is that data flow provided by the invention is split as data frame and in a time multiplexed way combination diagram；
Fig. 7 is that signal transmits schematic diagram in data processing transmission method provided by the invention；
Fig. 8 is user perspective data transmission structure schematic diagram provided by the invention；
Fig. 9 is queue triggering judgment method schematic diagram provided by the invention；
Figure 10 is data processing transmitting device structural schematic diagram provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, ordinary skill people every other reality obtained without creative efforts
Example is applied, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of data processing transmission methods, as shown in Figure 3, comprising:
S101, data processing transmission device are in the data flow for receiving flying control equipment and each loading device and sending respectively
When, data flow is stored in transmit queue；It, will when detecting the trigger action for sending the data flow in currently transmitted queue
The flying control equipment and the corresponding data flow of each loading device stored in currently transmitted queue is split as several data frames, and
By several data frames by the data management apparatus for being transferred to opposite end after the encapsulation of preset frame format in a time multiplexed manner；
S102, data processing transmission device, will in the data frame that the data processing transmission device for receiving opposite end is sent
Data frame is stored in receiving queue；When detecting the trigger action for sending the data frame in current receiving queue, according to working as
Pair of period and flying control equipment and each loading device of each data frame stored in preceding receiving queue where in transmission
It should be related to, data frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device；
In data processing transmission method provided by the invention, data processing transmission device is receiving ipsilateral flying control equipment
And the transmission of each loading device data flow when, data flow can be split as to several data frames, and it is unified encapsulate it is logical
Cross the data processing transmission device that a link is sent to opposite end；In the number that the data processing transmission device for receiving opposite end is sent
When according to frame, and data frame can be spliced into data flow again and be sent to corresponding flying control equipment and each loading device, from
And realize flying control equipment in unmanned plane side flying control equipment and each loading device and ground side and loading device merely with
A set of data processing transmission device can be carried out the transmission of data, effectively reduces the volume and weight of UAV system, is conducive to
The size of unmanned plane reduces, and then can save unmanned plane energy consumption, improves its cruising ability.Further, since data processing is transmitted
The data that flying control equipment and each loading device transmit are considered as data flow by equipment, and are split as data frame and are sent,
So that data communication process is unrelated with the format of data, therefore can support the transmission of any data format, so as to meet
The demand that aircraft and load are arbitrarily arranged in pairs or groups.
Wherein, data processing transmission device, flying control equipment and loading device here can be located at unmanned plane side.When
Positioned at unmanned plane side, flying control equipment here is the control equipment for directly controlling unmanned plane during flying, and loading device here is
The load, such as picture pick-up device etc. that the unmanned plane carries；In addition, data processing transmission device here, flying control equipment and
Loading device can be respectively positioned on ground control side.When being located at ground side, flying control equipment here is the winged control to unmanned plane
The equipment that equipment sends manipulation instruction, the equipment that the load that loading device here is carried to the unmanned plane sends control instruction.
It should be noted that above method embodiment is only at one of data to unmanned plane side or ground side
Manage the description of the data processing transmission method of transmission device.In practical applications, it is provided between unmanned plane and ground
Data processing transmission device, and the two cooperates to realize that unmanned plane side is set with ground side flying control equipment and load
Data transmission between standby.With reference to the accompanying drawing to the data handling procedure of data processing transmission device in above method embodiment
And it is specifically described with the interactive process of the data processing transmission device of opposite end.
Fig. 4 shows the hardware configuration of data processing transmission device, is with the data processing transmission device of unmanned plane side
Example, data processing transmission device include multiple serial ports, one of serial ports by physical channel (such as Radio Link is fixed) with it is right
The data processing transmission device at end is communicated, and other serial ports pass through several pseudo channels and ipsilateral flying control equipment or load
The connection of lotus equipment.Wherein, serial ports here uses the white short head of 4 line ttl, and spacing 2.54mm makees industrial siding and be converted to 1.27mm connecing
Fly control, number passes.
As shown in figure 5, being set when the data processing transmission device of unmanned plane side receives ipsilateral flying control equipment or load
After the standby data flow transmitted by pseudo channel, these data flows can be stored in transmit queue.It needs to send out when detecting
When sending the data in currently transmitted queue, if the data flow that each pseudo channel transmits can be split as by data processing transmission device
Dry data frame, then data frame is packaged by preset format, for example, can be carried out by the format in table 1 to data frame
Encapsulation.
As can be seen that the data frame after encapsulation carries the identification information of pseudo channel.Later using time-multiplexed
Mode transfers out the data frame after encapsulation by physical channel, and the corresponding data frame of each pseudo channel is respectively in difference
Period in transmit.For example, as shown in fig. 6, the corresponding data frame of pseudo channel 1 transmits in first time period, it is virtual to believe
The corresponding data frame in road 2 transmits in second time period, and the corresponding data frame of pseudo channel 3 is in third and in the 4th period
Transmission, so that being separated from each other between the corresponding data frame of each channel.Certainly, a kind of virtual letter is illustrated only in Fig. 6
The data frame in road and the relationship of period can adapt to this corresponding relationship according to different situations in practical applications
Property modification, the present invention is not especially limited this.
The data processing transmission device of ground surface end side is in the data for receiving unmanned plane side and being transmitted by physical channel
After frame, data frame is stored to receiving queue.After detecting the trigger action of data in the current receiving queue of transmission, it will receive
Data frame in queue is according to the virtual letter having in the corresponding relationship and data frame of its transmission time and each pseudo channel
The identification information in road is spliced into the data flow transmitted to each pseudo channel again, and is transferred to corresponding flying control equipment or load
Lotus equipment, to complete once by the communication process of unmanned plane to ground.
It is understood that same as mentioned above, the two sides from one side of ground to the mode of unmanned plane side transmission information
The process of communication may refer to Fig. 7, since this process being described in detail above, details are not described herein.
It should be noted that method provided by the invention, all data are packaged due to data processing transmission device and
Work is split to complete in inside, for flying for control and load, respective control terminal is connected with actuating station by pseudo channel,
From the user's point of view just as being connected directly, the presence of several pipes, therefore the structure passed with the user perspective number can not be perceived
Figure is as shown in Figure 8.
Further, on the basis of above method embodiment, in the specific implementation, in order to enable data communication does not hinder
Plug, method provided by the invention realizes data buffer storage by the way of queue storage, while can be touched using clocked flip, threshold value
Mode of hair or a combination of both carries out the trigger action of data transmission.
It is combined for example with two kinds of triggering modes, as shown in figure 9, the triggering for transmit queue determines, is first determined whether
Current time whether be object time namely current time and it is last send between time interval whether be greater than or equal to it is pre-
If sending cycle.If so, the data of triggering transmit queue send operation, data frame encapsulation group packet is also passed through into physics chain
Road is transmitted to opposite end, while the next round to be received data to be sent such as empty queue；If it is not, then continuing to judge current queue
Whether the data of middle storage reach preset threshold value.If being judged as YES, the data for similarly triggering transmit queue send operation,
Data frame encapsulation group packet such as is transmitted to opposite end, and empties queue at the next round to be received data to be sent by physical link；
If it is not, then continuing to test.It is understood that for receiving queue, as the polling mode of transmit queue, therefore
The process of its judgement triggering is repeated no more.
Understandable to be, the mode for sampling above-mentioned triggering can be realized automatic trigger to transmit queue and receiving queue
Operation, avoids the overabundance of data cached in queue that data is caused to overflow, while the process of communication can also be made orderly to carry out, no
It can get congestion or block, guarantee that communication process smoothly completes.In addition, can also be realized using this queue cache way to biography
The statistics and control of defeated flow, so that method provided by the invention can adapt to the communication under various network environments, extension
Application range.
Second aspect, embodiment of the present invention additionally provide a kind of data processing transmitting device, as shown in Figure 10, including connect
Receive and keep storage unit 1 and processing transmission unit 2.
Wherein, storage unit 1 is received, in the data for receiving flying control equipment and each loading device and sending respectively
When stream, data flow is stored in transmit queue；
Transmission unit 2 is handled, for that will work as when detecting the trigger action for sending the data flow in currently transmitted queue
The flying control equipment and the corresponding data flow of each loading device stored in preceding transmit queue is split as several data frames, and will
Several data frames are transferred to the data processing transmitting device of opposite end in a time multiplexed manner after encapsulating by preset frame format；
Storage unit 1 is received, is also used to count in the data frame that the data processing transmitting device for receiving opposite end is sent
It is stored in receiving queue according to frame；
Transmission unit 2 is handled, is also used to when detecting the trigger action for sending the data frame in current receiving queue, root
According to each data frame stored in current receiving queue transmission when where period and flying control equipment and each loading device
Corresponding relationship, data frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device；
Wherein, data processing transmitting device, flying control equipment and loading device are located at unmanned plane side；Or, data processing
Transmitting device, flying control equipment and loading device are located at ground control side.
In the specific implementation,
Transmission unit 2 is handled, is also used to fly when it is object time node that detection is by the current time of timers trigger
Control equipment and the corresponding data flow of each loading device are split as several data frames, and by several data frames by preset
The data processing transmitting device of opposite end is transferred to after frame format encapsulation in a time multiplexed manner；
And/or
Transmission unit 2 is handled, is also used to when detecting that the data of transmit queue storage reach preset threshold value, by winged control
Equipment and the corresponding data flow of each loading device are split as several data frames, and several data frames are pressed preset frame
The data processing transmitting device of opposite end is transferred to after format encapsulation in a time multiplexed manner.
In the specific implementation, transmission unit 2 is handled, is also used to empty transmit queue.
In the specific implementation, transmission unit 2 is handled, is also used to when it is target that detection is by the current time of timers trigger
When intermediate node, flying control equipment and the corresponding data flow of each loading device are split as several data frames, according to currently connecing
Receive the corresponding pass of each data frame stored in queue the period where in transmission and flying control equipment and each loading device
System, is spliced into corresponding data flow for data frame and is sent to flying control equipment and each loading device；
And/or
Transmission unit 2 is handled, is also used to when detecting that the data of receiving queue storage reach preset threshold value, by winged control
Equipment and the corresponding data flow of each loading device are split as several data frames, each according to what is stored in current receiving queue
The corresponding relationship of period and flying control equipment and each loading device of a data frame where in transmission, data frame is spliced into
Corresponding data flow is sent to flying control equipment and each loading device.
In the specific implementation, transmission unit 2 is handled, is also used to empty receiving queue.
Since the data processing transmitting device that the present embodiment is introduced is at the data that can be executed in the embodiment of the present invention
The device of transmission method is managed, so based on data processing transmission method described in the embodiment of the present invention, the affiliated skill in this field
Art personnel can understand the specific embodiment and its various change form of the data processing transmitting device of the present embodiment, so
How data processing transmission method in embodiment of the present invention in detail is realized if being no longer situated between for the data processing transmitting device at this
It continues.As long as those skilled in the art implement device used by data processing transmission method in the embodiment of the present invention, all belong to
In the range that the application to be protected.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment claimed it is any it
One can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize gateway according to an embodiment of the present invention, proxy server, in system
Some or all components some or all functions.The present invention is also implemented as executing side as described herein
Some or all device or device programs (for example, computer program and computer program product) of method.It is such
It realizes that program of the invention can store on a computer-readable medium, or can have the shape of one or more signal
Formula.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other shape
Formula provides.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (10)
1. a kind of data processing transmission method characterized by comprising
Data processing transmission device, will be described when receiving the data flow that flying control equipment and each loading device are sent respectively
Data flow is stored in transmit queue；It, will be current when detecting the trigger action for sending the data flow in currently transmitted queue
The flying control equipment and the corresponding data flow of each loading device stored in transmit queue is split as several data frames, and by institute
Several data frames are stated by the data management apparatus for being transferred to opposite end after the encapsulation of preset frame format in a time multiplexed manner；
Data processing transmission device is in the data frame that the data processing transmission device for receiving opposite end is sent, by the data frame
It is stored in receiving queue；When detecting the trigger action for sending the data frame in current receiving queue, received according to current
The corresponding relationship of period and flying control equipment and each loading device of each data frame stored in queue where in transmission,
The data frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device；
Wherein,
The data processing transmission device, flying control equipment and loading device are located at unmanned plane side；
Or, the data processing transmission device, flying control equipment and loading device are located at ground control side.
2. the method according to claim 1, wherein described detecting the data sent in currently transmitted queue
When the trigger action of stream, flying control equipment and the corresponding data flow of each loading device are split as several data frames, and will
Several described data frames are transferred to the data management apparatus of opposite end in a time multiplexed manner after encapsulating by preset frame format
The step of, comprising:
When it is object time node that detection is by the current time of timers trigger, by flying control equipment and each loading device pair
The data flow answered is split as several data frames, and several described data frames are answered as after the encapsulation of preset frame format with the time-division
Mode is transferred to the data management apparatus of opposite end；
And/or
When detecting that the data of the transmit queue storage reach preset threshold value, by flying control equipment and each loading device
Corresponding data flow is split as several data frames, and several described data frames were pressed after preset frame format encapsulates with the time-division
The mode of multiplexing is transferred to the data management apparatus of opposite end.
3. according to the method described in claim 2, it is characterized in that, the method also includes: empty the transmit queue.
4. the method according to claim 1, wherein described detecting the data sent in current receiving queue
When the trigger action of stream, according to each data frame stored in current receiving queue transmission when where period and flying control equipment
And the corresponding relationship of each loading device, the data frame is spliced into corresponding data flow and is sent to flying control equipment and each
The step of a loading device, comprising:
When it is object time node that detection is by the current time of timers trigger, by flying control equipment and each loading device pair
The data flow answered is split as several data frames, according to each data frame stored in current receiving queue transmission when where
The corresponding relationship of period and flying control equipment and each loading device, are spliced into corresponding data flow for the data frame and are sent to
Flying control equipment and each loading device；
And/or
When detecting that the data of the receiving queue storage reach preset threshold value, by flying control equipment and each loading device
Corresponding data flow is split as several data frames, according to each data frame stored in current receiving queue transmission when where
Period and flying control equipment and each loading device corresponding relationship, the data frame is spliced into corresponding data flow and is sent
To flying control equipment and each loading device.
5. according to the method described in claim 4, it is characterized in that, the method also includes: empty the receiving queue.
6. a kind of data processing transmitting device characterized by comprising
Storage unit is received, for when receiving the data flow that flying control equipment and each loading device are sent respectively, by institute
Data flow is stated to be stored in transmit queue；
Transmission unit is handled, for will currently send out when detecting the trigger action for sending the data flow in currently transmitted queue
The flying control equipment stored in queue and the corresponding data flow of each loading device is sent to be split as several data frames, and will be described
Several data frames are transferred to the data processing transmitting device of opposite end in a time multiplexed manner after encapsulating by preset frame format；
The reception storage unit is also used in the data frame that the data processing transmitting device for receiving opposite end is sent, by institute
Data frame is stated to be stored in receiving queue；
The processing transmission unit is also used to when detecting the trigger action for sending the data frame in current receiving queue, root
According to each data frame stored in current receiving queue transmission when where period and flying control equipment and each loading device
Corresponding relationship, the data frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device；
Wherein,
The data processing transmitting device, flying control equipment and loading device are located at unmanned plane side；
Or, the data processing transmitting device, flying control equipment and loading device are located at ground control side.
7. device according to claim 6, which is characterized in that
The processing transmission unit is also used to fly when it is object time node that detection is by the current time of timers trigger
Control equipment and the corresponding data flow of each loading device are split as several data frames, and several described data frames are pressed in advance
If frame format encapsulation after be transferred to the data processing transmitting device of opposite end in a time multiplexed manner；
And/or
The processing transmission unit is also used to when detecting that the data of the transmit queue storage reach preset threshold value, will
Flying control equipment and the corresponding data flow of each loading device are split as several data frames, and several described data frames are pressed
The data processing transmitting device of opposite end is transferred to after preset frame format encapsulation in a time multiplexed manner.
8. device according to claim 7, which is characterized in that
The processing transmission unit, is also used to empty the transmit queue.
9. device according to claim 6, which is characterized in that
The processing transmission unit is also used to fly when it is object time node that detection is by the current time of timers trigger
Control equipment and the corresponding data flow of each loading device are split as several data frames, according to what is stored in current receiving queue
The corresponding relationship of period and flying control equipment and each loading device of each data frame where in transmission, by the data frame
It is spliced into corresponding data flow and is sent to flying control equipment and each loading device；
And/or
The processing transmission unit is also used to when detecting that the data of the receiving queue storage reach preset threshold value, will
Flying control equipment and the corresponding data flow of each loading device are split as several data frames, store according in current receiving queue
Period and flying control equipment and each loading device of each data frame where in transmission corresponding relationship, by the data
Frame is spliced into corresponding data flow and is sent to flying control equipment and each loading device.
10. device according to claim 9, which is characterized in that
The processing transmission unit, is also used to empty the receiving queue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610592693.7A CN106230913B (en) | 2016-07-25 | 2016-07-25 | Data processing transmission method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610592693.7A CN106230913B (en) | 2016-07-25 | 2016-07-25 | Data processing transmission method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106230913A CN106230913A (en) | 2016-12-14 |
| CN106230913B true CN106230913B (en) | 2019-10-01 |
Family
ID=57533238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610592693.7A Active CN106230913B (en) | 2016-07-25 | 2016-07-25 | Data processing transmission method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106230913B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018170737A1 (en) * | 2017-03-21 | 2018-09-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and control device, and unmanned aerial vehicle supervision method and supervision device |
| KR20190113986A (en) | 2017-03-21 | 2019-10-08 | 에스지 디제이아이 테크놀러지 코., 엘티디 | Monitoring method and system |
| CN108445807A (en) * | 2018-03-30 | 2018-08-24 | 深圳飞马机器人科技有限公司 | Unmanned machine vibration and impact data acquisition and analysis system and method |
| WO2020107453A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, communication system and testing method, device and system therefor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103944671A (en) * | 2014-05-22 | 2014-07-23 | 中国地质大学（武汉） | Method and system for real-time transmission of ultra-wideband airborne data based on multichannel aggregation |
| CN104850132A (en) * | 2015-04-23 | 2015-08-19 | 中电科（德阳广汉）特种飞机***工程有限公司 | Multitask load management apparatus and method |
| CN105450984A (en) * | 2015-11-09 | 2016-03-30 | 天津航天中为数据***科技有限公司 | Data sending method and system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247160B (en) * | 2008-02-22 | 2011-04-06 | 北京航空航天大学 | Method for real-time conveying DGPS data through unmanned aerial vehicle control periodic line |
| CN103490842B (en) * | 2013-09-26 | 2016-09-28 | 深圳市大疆创新科技有限公司 | Data transmission system and method |
-
2016
- 2016-07-25 CN CN201610592693.7A patent/CN106230913B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103944671A (en) * | 2014-05-22 | 2014-07-23 | 中国地质大学（武汉） | Method and system for real-time transmission of ultra-wideband airborne data based on multichannel aggregation |
| CN104850132A (en) * | 2015-04-23 | 2015-08-19 | 中电科（德阳广汉）特种飞机***工程有限公司 | Multitask load management apparatus and method |
| CN105450984A (en) * | 2015-11-09 | 2016-03-30 | 天津航天中为数据***科技有限公司 | Data sending method and system |
Non-Patent Citations (1)
| Title |
|---|
| "基于TTNT的无人机机载通信***仿真研究";张基晗;《中国优秀硕士学位论文全文数据库》;20140115;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106230913A (en) | 2016-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106230913B (en) | Data processing transmission method and device | |
| CN108200167B (en) | Cloud-based remote multi-path combined control method for unmanned aerial vehicle | |
| US9609065B2 (en) | Bridge for implementing a converged network protocol to facilitate communication between different communication protocol networks | |
| CN102893566B (en) | For realizing non-block type method and apparatus based on priority flow control | |
| RU2019137096A (en) | UNMANNED AIRCRAFT COMMUNICATION SYSTEM AND UNMANNED AIRCRAFT SERVER COMMUNICATION SYSTEM | |
| CN204945802U (en) | A kind of unmanned plane task chain hardware system | |
| GB2522949A (en) | Methods and systems for transmitting and receiving packets | |
| CN108183780B (en) | Redundancy unmanned aerial vehicle data transmission system and transmission method | |
| CN109004972A (en) | Data transmission method, device, system and the surface map transmission module of UAV system | |
| CN108880724B (en) | Airborne equipment data transmission method, device and system based on time-sharing transmission technology | |
| CN110417687A (en) | A kind of message sends and receives method and device | |
| CN105245464A (en) | Network acceleration method based on Android system | |
| CN107592337A (en) | A kind of method and device of unmanned aerial vehicle (UAV) control device and communication of mobile terminal | |
| CN107563075B (en) | Method for realizing CosiMate network and DDS network interconnection | |
| EP3787239B1 (en) | Systems and methods for scheduling a message | |
| US9913199B1 (en) | Providing communication over a plurality of networks | |
| CN103890746B (en) | Message transmission control method, processing method, equipment and system | |
| US11595314B2 (en) | Systems and methods for automatic priority assignment for virtual links | |
| Liu et al. | Dispatching and management methods for communication of UAV swarm | |
| CN109842641A (en) | A kind of Unmanned Aerial Vehicle Data transmission method, apparatus and system | |
| CN103825767B (en) | The implementation method and bridge of service quality | |
| CN207164522U (en) | A kind of unmanned plane portable type ground station | |
| KR20220114544A (en) | Method for IAB multiplexing and timing relationship and nodes using the method | |
| CN107895075B (en) | Method for developing general simulation framework of airborne bus | |
| CN208241668U (en) | A kind of redundance Unmanned Aerial Vehicle Data transmitting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |