CN110351752A - A kind of unmanned boat and its network optimized approach, device and storage medium - Google Patents
A kind of unmanned boat and its network optimized approach, device and storage medium Download PDFInfo
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- CN110351752A CN110351752A CN201910567516.7A CN201910567516A CN110351752A CN 110351752 A CN110351752 A CN 110351752A CN 201910567516 A CN201910567516 A CN 201910567516A CN 110351752 A CN110351752 A CN 110351752A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
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Abstract
The application is suitable for field of communication technology, provides a kind of unmanned boat and its network optimized approach, device and storage medium, and the unmanned boat network optimized approach includes: the driving status and the current contextual data of unmanned boat for obtaining unmanned boat；According to the current contextual data of the driving status of the unmanned boat and unmanned boat, the topological structure of scene where estimating the unmanned boat in the predetermined period after current time；According to the topological structure estimated, the base station of heterogeneous networks is estimated and network quality that unmanned boat communicates；According to the network quality estimated, unmanned boat used network in the predetermined period is determined.Can be mutated to avoid network quality causes network switching to cause communication quality to decline not in time, or switching leads to interrupted communication link not in time, is conducive to real-time return data, so as to improve the real-time and stability of the transmission of unmanned boat data.
Description
Technical field
The application belongs to the communications field more particularly to a kind of unmanned boat and its network optimized approach, device and storage medium.
Background technique
Unmanned boat is a kind of small-size water surface platform with independence, has wide hair in military field and civil field
Exhibition prospect.The unmanned boat on the water surface is worked in, needs to realize real time communication with bank end group station, returns the real-time letter of unmanned boat state
Breath realizes order so as to bank end and assigns, monitoring data, collects evidence.
Due to the diversity and complexity of the unmanned boat work water surface, often make the transmission of electromagnetic wave limited, unmanned boat
Communication link with bank end group station is it is possible that communication quality declines, if the network quality according to calculating switches over, very
To interrupted communication link is likely to occur, the data of passback is caused to generate time delay, the real-time and stability of data collected compared with
Difference.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of unmanned boat and its network optimized approach, device and storage medium,
Interrupted communication link may be caused because external environmental factor interferes to solve unmanned boat in the prior art, in turn result in the number of passback
It is poor according to the real-time and stability that lead to the problem of time delay and data acquisition.
The first aspect of the embodiment of the present application provides a kind of network optimized approach of unmanned boat, the network of the unmanned boat
Optimization method includes:
Obtain the driving status of unmanned boat and the contextual data that unmanned boat is current；
According to the current contextual data of the driving status of the unmanned boat and the unmanned boat, estimate current time it
The topological structure of scene where unmanned boat in predetermined period afterwards；
According to the topological structure estimated, the base station of heterogeneous networks is estimated and network quality that unmanned boat communicates；
According to the network quality estimated, unmanned boat used network in the predetermined period is determined.
With reference to first aspect, in the first possible implementation of first aspect, the row according to the unmanned boat
State and the current contextual data of the unmanned boat are sailed, where estimating the unmanned boat in the predetermined period after current time
The step of topological structure of scene includes:
According to the travel speed, driving direction and travel route of unmanned boat, the dynamic position of unmanned boat is estimated；
According to the movement velocity and the direction of motion of the moving obstacle in scene, the dynamic position of moving obstacle is estimated；
According to the dynamic position of the unmanned boat, the dynamic position of the moving obstacle, base station location and solid obstacle
Object location, the topological structure of scene where estimating the unmanned boat in the predetermined period after current time.
With reference to first aspect, described to be tied according to the topology estimated in second of possible implementation of first aspect
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates include:
According to base station location, and the dyskinesia object location estimated, determine that the moving obstacle influences base station signal
Dynamic effects range；
According to base station location and solid obstacle object location, determine that the fixed obstacle influences the static state of base station signal
Coverage；
Nobody is determined in conjunction with the dynamic effects range and static coverage according to the real time position of the unmanned boat
The network quality of ship and base station communication.
With reference to first aspect, described to be tied according to the topology estimated in the third possible implementation of first aspect
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates include:
Determine the position of unmanned boat, the position and height at the elevation angle of unmanned boat antenna and direction and base station；
According to the elevation angle of the antenna of the unmanned boat position and direction, and the position of the base station and the matching degree of height,
Determine the network quality of unmanned boat and base station communication.
With reference to first aspect, described to be tied according to the topology estimated in the 4th kind of possible implementation of first aspect
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates include:
According to the travel speed and driving direction of the unmanned boat, nobody in the predetermined period after current time is determined
The dynamic position of ship；
According to the corresponding relationship of preset interference spectrum type and interference region, determine in the unmanned boat driving trace by
The network of interference.
With reference to first aspect, described to be tied according to the topology estimated in the 5th kind of possible implementation of first aspect
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates further include:
When clear between the unmanned boat and the base station, obtain between the unmanned boat and the base station away from
From；
The network quality that the base station is communicated with the unmanned boat is estimated according to the distance.
With reference to first aspect, in the 6th kind of possible implementation of first aspect, the network includes wireless image transmission net
One or more of network, Beidou communication network, mobile communications network, public network.
The second aspect of the embodiment of the present application provides a kind of network optimization device of unmanned boat, the network of the unmanned boat
Optimizing device includes:
Data capture unit, the current contextual data of driving status and unmanned boat for obtaining unmanned boat；
Topological structure estimates unit, the scene number current for the driving status and unmanned boat according to the unmanned boat
According to the topological structure of scene where estimating the unmanned boat in the predetermined period after current time；
Network quality estimates unit, for estimating base station and the unmanned boat of heterogeneous networks according to the topological structure estimated
The network quality of communication；
Network selection unit, for determining that unmanned boat is made in the predetermined period according to the network quality estimated
Network.
The third aspect of the embodiment of the present application provides a kind of unmanned boat, including processor, memory and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
Now such as the step of the network optimized approach of the described in any item unmanned boats of first aspect.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and such as first aspect described in any item nothings are realized when the computer program is executed by processor
The step of network optimized approach of people's ship.
Existing beneficial effect is the embodiment of the present application compared with prior art: according to the driving status of unmanned boat, and
The current contextual data of unmanned boat, the topological structure of scene where estimating the unmanned boat in the predetermined period after current time,
According to the topological structure estimated, come estimate unmanned boat heterogeneous networks network quality, according to the network quality estimated come
Required network is selected, can be mutated to avoid network quality causes network switching to cause under communication quality not in time
Drop, or switching lead to interrupted communication link not in time, are conducive to real-time return data, pass so as to improve unmanned boat data
Defeated real-time and stability.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation process schematic diagram of the network optimized approach of unmanned boat provided by the embodiments of the present application；
Fig. 2 is the implementation process signal of the topological structure of scene where a kind of determining unmanned boat provided by the embodiments of the present application
Figure；
Fig. 3 is a kind of implementation process schematic diagram of network quality method for estimating unmanned boat provided by the embodiments of the present application；
Fig. 4 is a kind of implementation process signal that network quality method is determined according to interference spectrum provided by the embodiments of the present application
Figure；
Fig. 5 is a kind of schematic diagram of the network optimization device of unmanned boat provided by the embodiments of the present application；
Fig. 6 is the schematic diagram of unmanned boat provided by the embodiments of the present application.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
Fig. 1 is a kind of implementation process schematic diagram of the network optimized approach of unmanned boat provided by the embodiments of the present application, is described in detail
It is as follows:
In step s101, the driving status of unmanned boat and the contextual data that unmanned boat is current are obtained；
Specifically, the driving status of the unmanned boat, may include the current travel speed of unmanned boat, driving direction etc..
Alternatively, the driving status of the unmanned boat can also include the elevation angle and the direction of the antenna of unmanned boat, according to the unmanned boat
Direction and the elevation angle, can determine received signal of communication orientation, consequently facilitating estimation cordless communication network network quality.
The current contextual data of the unmanned boat may include the position where unmanned boat, other ships on unmanned boat periphery
Only quantity, the movement velocity and the direction of motion of other moving objects of equal moving objects, the position of fixed obstacle and nobody
The position etc. of ship position radio communication base station, or can also include the size of moving object or fixed obstacle, with
Convenient for determining the range for influencing unmanned boat and base station communication according to the size of barrier.Certainly, the current scene of the unmanned boat
Data can also include the information such as the course line of unmanned boat and the water velocity in the course line.Alternatively, the scene of the unmanned boat
Data can also include the height etc. of base station, in order to the communication matter between the more accurate determination unmanned boat and base station
Amount.
In step s 102, the contextual data current according to the driving status of the unmanned boat and the unmanned boat, in advance
The topological structure of scene where estimating the unmanned boat in the predetermined period after current time；
The process of the topological structure of scene where determining the unmanned boat, can be as shown in Figure 2, comprising:
In step s 201, according to the travel speed of unmanned boat, driving direction and travel route, the dynamic of unmanned boat is estimated
Position；
By the driving status of unmanned boat, for example pass through the travel speed and driving direction of unmanned boat, it can be effectively pre-
Estimate predetermined period of the unmanned boat after current time, such as position and pair of time in 30 minutes after current time
It should be related to.It is of course also possible to obtain more accurate position pass corresponding with the time in conjunction with the course line that the unmanned boat is planned
The data of system, so as to estimate the position of the unmanned boat corresponding to any time in the predetermined period, it can pre-
Estimate the dynamic position of unmanned boat.
In step S202, according to the movement velocity and the direction of motion of the moving obstacle in scene, dyskinesia is estimated
The dynamic position of object；
It, that is, can be according to the movement when including moving obstacle when unmanned boat includes in the scene moving object
Speed, the driving direction of barrier estimate the driving trace of the moving obstacle, determine the dynamic bit for barrier of doing exercises
It sets, so as to estimate the dynamic position of moving obstacle.
In step S203, according to the dynamic position of the unmanned boat, the dynamic position of the moving obstacle, base station position
It sets with solid obstacle object location, the topological structure of scene where estimating the unmanned boat in the predetermined period after current time.
According to the dynamic position of identified unmanned boat, the dynamic position of moving obstacle, in conjunction with fixed base station location,
The topological structure of dynamic scene can be generated in solid obstacle object location.It namely at any time, can be in the dynamic topology
In structure, estimated unmanned boat position, dyskinesia object location are inquired.Consequently facilitating carrying out net according to the position inquired
The analytical calculation of network quality.
Herein described network may include wireless image transmission network, Beidou communication network, mobile communications network, public network
One or more of network.
In step s 103, according to the topological structure estimated, the base station of heterogeneous networks is estimated and net that unmanned boat communicates
Network quality；
According to the topological structure estimated, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates
In, any one or the various ways that can specifically include in following manner combine, and details are as follows:
Mode one:
As shown in figure 3, estimating the base station of heterogeneous networks and the process of network quality that unmanned boat communicates includes:
In step S301, according to base station location, and the dyskinesia object location estimated, determine the moving obstacle
Influence the dynamic effects range of base station signal；
Since the position of moving obstacle, such as ship is changing, therefore, because the change in location of the moving obstacle
Generated communication quality influence area can also change.It is determining behind the position at bank base station, is being hindered according to the movement
Hinder the position of object, can determine that the remote base station lateral side regions of the barrier are affected area.The size of the affected area, with
The size of the shielding surface of the moving obstacle is related.In general, the size of shielding surface reaction moving obstacle, moving obstacle
Bigger, then the affected area generated is also bigger.
In addition, the moving obstacle of same size, the influence size for different base station is also different, for low power figure
The influence of communication network is passed, generally larger than powerful figure passes communication network.
In step s 302, according to base station location and solid obstacle object location, determine that the fixed obstacle influences institute
State the static coverage of base station signal；
In unmanned boat driving process, may on the water surface there is also the barrier that the positions such as including island are fixed, for
The coverage of the fixed obstacle, after the position of base station determines, that is, can determine that the fixed obstacle generates by shadow
Area is rung, i.e., the lateral side regions far from the fixed obstacle are affected area.Equally, the size of the affected area and fixed barrier
Hinder the correlations such as the shielding surface size, fixed obstacle material, base station type of object.
In step S303, according to the real time position of unmanned boat, in conjunction with the dynamic effects range and the static influence
Range determines the network quality of unmanned boat and base station communication.
After determining dynamic effects range and static coverage, nobody can be estimated in conjunction with the dynamic position of unmanned boat
Ship may be subjected in the process of moving barrier influence communication quality time and/or position, when unmanned boat travel to it is pre-
It is switched to network corresponding to other unaffected base stations when the impacted position estimated, or when no ship is travelled to being estimated
When the impacted time, network corresponding to other unaffected base stations is switched to.
Mode two:
As shown in figure 4, the network quality of unmanned boat communication can be estimated according to preset interference spectrum, it is specific to wrap
It includes:
In step S401, according to the travel speed and driving direction of the unmanned boat, determine pre- after current time
The dynamic position of unmanned boat in timing section；
According to unmanned boat current travel speed and driving direction, the dynamic bit in following predetermined period can be estimated
It sets.Alternatively, the water condition information in the course line of unmanned boat, the course line, including such as water velocity, Tidal Information can also be combined, come
Determine the dynamic position of unmanned boat, so as to the more accurate dynamic position for estimating the unmanned boat, convenient for it is subsequent more subject to
True carry out network switching.
In step S402, according to the corresponding relationship of preset interference spectrum type and interference region, unmanned boat row is determined
Sail the network being disturbed in track.
The corresponding relationship of interference spectrum type and interference region can be counted in advance, i.e. statistics spectrum type and interference in advance
The corresponding relationship in region, for example, there are the interference spectrums of frequency spectrum A in a certain band of position, but frequency spectrum B and frequency spectrum C can be normal
Communication, then, the corresponding communication network of frequency spectrum A will receive spectral interference in region in the position, influence the corresponding communication network of frequency spectrum A
The communication quality of network.
Under the premise of other influence conditions are identical, if it is determined that unmanned boat then may be used when certain region is interfered by frequency spectrum A
Other communication network corresponding to spectrum type is not affected by switch to before unmanned boat enters the region.
Mode three:
Since the horizontal position of base station installation can be distinct, the installation elevation angle of the receiving antenna of unmanned boat and direction also can
Also different, in order to effectively determine the receiving antenna of the unmanned boat and the influence of base station, the position of available unmanned boat, nothing
The elevation angle of people's ship antenna and the position and height of direction and base station, to determine the antenna and base station matching degree of unmanned boat.
Unmanned boat signal can be calculated in conjunction with base station location and height according to the position of unmanned boat, antenna direction, the elevation angle
The matching degree of receiving angle, the size that can be influenced according to the Different matching degree counted in advance on communication quality are current to determine
Under scene, the corresponding communication quality of the antenna condition of unmanned boat.
Under the premise of other influence conditions are identical, if the matching degree of the antenna of base station A and unmanned boat is to communication quality
It is affected, then can choose and communicated with the higher other base stations of the matching degree of the antenna of unmanned boat.
Mode four:
It, can also be according to the base station in topological structure and between unmanned boat between unmanned boat and base station when clear
Distance, determines whether distance influences whether the efficient communication between base station and unmanned boat.In general, can be according to different base stations
Type determines the size of influence of the distance to communication quality, according to the size that communication quality influences, to select communication quality preferable
Base station corresponding to communication network communicated.
Certainly, in above-mentioned four kinds of modes, it can be combined with two or more mode and be combined consideration, according to
The influence that each mode is estimated, the comprehensive base estimated corresponding to the dynamic position of unmanned boat with preferable communication quality
Stand, so as to it is more reliable, carry out data communication in real time.
In step S104, according to the network quality estimated, determine that unmanned boat is used in the predetermined period
Network.
According to one or more of the mode of above-mentioned introduction, net corresponding to the dynamic position for the unmanned boat estimated
Network, base station switching can may effectively be carried out before impacted region by entering communication quality in unmanned boat, select quality compared with
Good other networks are communicated, thus can effectively avoid interrupted communication link, are conducive to improve the real-time of data back
The stability of property.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit
It is fixed.
Fig. 5 is a kind of structural schematic diagram of the network optimization device of unmanned boat provided by the embodiments of the present application, and details are as follows:
The network optimization device of the unmanned boat, comprising:
Data capture unit 501, the current contextual data of driving status and unmanned boat for obtaining unmanned boat；
Topological structure estimates unit 502, the scene current for the driving status and unmanned boat according to the unmanned boat
Data, the topological structure of scene where estimating the unmanned boat in the predetermined period after current time；
Network quality estimates unit 503, for according to the topological structure estimated, estimate heterogeneous networks base station and nobody
The network quality of ship communication；
Network selection unit 504, for determining unmanned boat institute in the predetermined period according to the network quality estimated
The network used.
Wherein, the data capture unit 501 is by the driving status of acquired unmanned boat and unmanned boat current scene
Data are sent to topological structure and estimate unit 502, estimate opening up for scene where unit 502 estimates unmanned boat by the topological structure
Structure is flutterred, and the topological structure estimated is sent to network quality and estimates unit 503, estimates unit 503 by the network
It is estimated according to the network quality that base station of the topological structure to heterogeneous networks is communicated with unmanned boat, the network quality that will be estimated
It is sent to network selection unit 504, so that the network selection unit 504 determines nobody according to the network quality estimated
Ship used network in the predetermined period.
The network optimization device of unmanned boat described in Fig. 5, it is corresponding with the network optimized approach of unmanned boat described in Fig. 1.
Fig. 6 is the schematic diagram for the unmanned boat that one embodiment of the application provides.As shown in fig. 6, the unmanned boat 6 of the embodiment wraps
It includes: processor 60, memory 61 and being stored in the computer that can be run in the memory 61 and on the processor 60
Program 62, such as the network optimization program of unmanned boat.The processor 60 is realized above-mentioned each when executing the computer program 62
Step in the network optimized approach embodiment of a unmanned boat.Alternatively, when the processor 60 executes the computer program 62
Realize the function of each module/unit in above-mentioned each Installation practice.
Illustratively, the computer program 62 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 61, and are executed by the processor 60, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 62 in the unmanned boat 6 is described.For example, the computer program 62 can be divided
At:
Data capture unit 501, the current contextual data of driving status and unmanned boat for obtaining unmanned boat；
Topological structure estimates unit 502, the scene current for the driving status and unmanned boat according to the unmanned boat
Data, the topological structure of scene where estimating the unmanned boat in the predetermined period after current time；
Network quality estimates unit 503, for according to the topological structure estimated, estimate heterogeneous networks base station and nobody
The network quality of ship communication；
Network selection unit 504, for determining unmanned boat institute in the predetermined period according to the network quality estimated
The network used.
The unmanned boat 6 may include, but be not limited only to, processor 60, memory 61.Those skilled in the art can manage
Solution, Fig. 6 is only the example of unmanned boat 6, does not constitute the restriction to unmanned boat 6, may include more more or fewer than illustrating
Component perhaps combines certain components or different components, such as the unmanned boat can also include input-output equipment, net
Network access device, bus etc..
The processor 60 can be central processing unit (Central Processing Unit, abbreviation CPU), may be used also
Be other general processors, it is digital signal processor (Digital Signal Processor, abbreviation DSP), dedicated integrated
Circuit (Application Specific Integrated Circuit, abbreviation ASIC), field programmable gate array
(Field-Programmable Gate Array, abbreviation FPGA) either other programmable logic device, discrete gate or crystal
Pipe logical device, discrete hardware components etc..General processor can be microprocessor or be also possible to any conventional processing
Device etc..
The memory 61 can be the internal storage unit of the unmanned boat 6, such as the hard disk or memory of unmanned boat 6.
The memory 61 is also possible to the External memory equipment of the unmanned boat 6, such as the plug-in type being equipped on the unmanned boat 6 is hard
Disk, intelligent memory card (Smart Media Card, abbreviation SMC), safe digital (Secure Digital Memory, referred to as
SD) block, flash card (Flash Card) etc..Further, the memory 61 can also both include the inside of the unmanned boat 6
Storage unit also includes External memory equipment.The memory 61 is for storing the computer program 62 and the unmanned boat
Other required programs and data.The memory 61 can be also used for temporarily storing the number that has exported or will export
According to.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, abbreviation ROM), random access memory
(Random Access Memory, abbreviation RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
, the content that the computer-readable medium includes can be according to the requirement progress made laws in jurisdiction with patent practice
Increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric load
Wave signal and telecommunication signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of network optimized approach of unmanned boat, which is characterized in that the network optimized approach of the unmanned boat includes:
Obtain the driving status of unmanned boat and the contextual data that unmanned boat is current；
According to the current contextual data of the driving status of the unmanned boat and the unmanned boat, after estimating current time
The topological structure of scene where unmanned boat in predetermined period；
According to the topological structure estimated, the base station of heterogeneous networks is estimated and network quality that unmanned boat communicates；
According to the network quality estimated, unmanned boat used network in the predetermined period is determined.
2. the network optimized approach of unmanned boat according to claim 1, which is characterized in that described according to the unmanned boat
Driving status and the current contextual data of the unmanned boat estimate the unmanned boat institute in the predetermined period after current time
Include: in the step of topological structure of scene
According to the travel speed, driving direction and travel route of unmanned boat, the dynamic position of unmanned boat is estimated；
According to the movement velocity and the direction of motion of the moving obstacle in scene, the dynamic position of moving obstacle is estimated；
According to the dynamic position of the unmanned boat, the dynamic position of the moving obstacle, base station location and solid obstacle level
It sets, the topological structure of scene where estimating the unmanned boat in the predetermined period after current time.
3. the network optimized approach of unmanned boat according to claim 1, which is characterized in that described according to the topology estimated
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates include:
According to base station location, and the dyskinesia object location estimated, determine that the moving obstacle influences the dynamic of base station signal
State coverage；
According to base station location and solid obstacle object location, determine that the fixed obstacle influences the static of base station signal and influences
Range；
According to the real time position of unmanned boat, in conjunction with the dynamic effects range and the static coverage, determine unmanned boat with
The network quality of base station communication.
4. the network optimized approach of unmanned boat according to claim 1, which is characterized in that described according to the topology estimated
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates include:
Determine the position of unmanned boat, the position and height at the elevation angle of unmanned boat antenna and direction and base station；
It is determined according to the elevation angle of the antenna of the unmanned boat position and direction with the position of the base station and the matching degree of height
The network quality of unmanned boat and base station communication.
5. the network optimized approach of unmanned boat according to claim 1, which is characterized in that described according to the topology estimated
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates include:
According to the travel speed and driving direction of the unmanned boat, the unmanned boat in the predetermined period after current time is determined
Dynamic position；
According to the corresponding relationship of preset interference spectrum type and interference region, the net being disturbed in unmanned boat driving trace is determined
Network.
6. the network optimized approach of unmanned boat according to claim 1, which is characterized in that described according to the topology estimated
Structure, the step of estimating the base station of heterogeneous networks and network quality that unmanned boat communicates further include:
When clear between the unmanned boat and the base station, the distance between the unmanned boat and the base station are obtained；
The network quality that the base station is communicated with the unmanned boat is estimated according to the distance.
7. the network optimized approach of unmanned boat according to claim 1, which is characterized in that the network includes wireless image transmission
One or more of network, Beidou communication network, mobile communications network, public network.
8. a kind of network optimization device of unmanned boat, which is characterized in that the network optimization device of the unmanned boat includes:
Data capture unit (501), the current contextual data of driving status and unmanned boat for obtaining unmanned boat；
Topological structure estimates unit (502), the scene number current for the driving status and unmanned boat according to the unmanned boat
According to the topological structure of scene where estimating the unmanned boat in the predetermined period after current time；
Network quality estimates unit (503), for estimating base station and the unmanned boat of heterogeneous networks according to the topological structure estimated
The network quality of communication；
Network selection unit (504), for determining that unmanned boat is made in the predetermined period according to the network quality estimated
Network.
9. a kind of unmanned boat, including processor (60), memory (61) and it is stored in the memory (61) and can be in institute
State the computer program (62) run on processor (60), which is characterized in that the processor (60) executes the computer journey
The step of network optimized approach such as unmanned boat as claimed in any one of claims 1 to 6 is realized when sequence (62).
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the network optimization of realization such as unmanned boat as claimed in any one of claims 1 to 6 when the computer program is executed by processor
The step of method.
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