WO2022056690A1 - Transmission method for reception acknowledgement information, control terminal, unmanned aerial vehicle, and storage medium - Google Patents

Transmission method for reception acknowledgement information, control terminal, unmanned aerial vehicle, and storage medium Download PDF

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Publication number
WO2022056690A1
WO2022056690A1 PCT/CN2020/115416 CN2020115416W WO2022056690A1 WO 2022056690 A1 WO2022056690 A1 WO 2022056690A1 CN 2020115416 W CN2020115416 W CN 2020115416W WO 2022056690 A1 WO2022056690 A1 WO 2022056690A1
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WIPO (PCT)
Prior art keywords
transmission data
image transmission
information
feedback mode
control terminal
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PCT/CN2020/115416
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French (fr)
Chinese (zh)
Inventor
吴旭科
于拾全
朱国宇
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2020/115416 priority Critical patent/WO2022056690A1/en
Publication of WO2022056690A1 publication Critical patent/WO2022056690A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/134—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or criterion affecting or controlling the adaptive coding
    • H04N19/164—Feedback from the receiver or from the transmission channel

Definitions

  • the present invention relates to the field of communication technologies, and in particular, to a transmission method for receiving confirmation information, a control terminal, an unmanned aerial vehicle and a storage medium.
  • the UAV communication system will adaptively adjust the encoding strategy of downlink data (such as images) according to the bit error rate of the wireless communication link (such as quantization parameters for image coding) Or modulation and coding strategy (Modulation and Coding Scheme, MCS), however, because the wireless communication link is susceptible to interference, it will lead to inaccurate bit error rate statistics. For example, when the wireless communication link is interfered, the UAV may incorrectly judge the reception acknowledgment information (Acknowledge, ACK) fed back by the control terminal as negative reception confirmation information with multiple ACKs, resulting in the BER ratio of the UAV statistics. The actual bit error rate is high, resulting in inaccurate estimation of the bit error rate.
  • Acknowledge Acknowledge
  • Embodiments of the present invention provide a transmission method for receiving confirmation information, a control terminal, an unmanned aerial vehicle and a storage medium, so as to reduce the estimation error of the image transmission bit error rate by the unmanned aerial vehicle and improve the estimation accuracy.
  • an embodiment of the present invention provides a method for transmitting acknowledgment information, which is applied to a control terminal, and the method includes:
  • the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone;
  • the feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the reception confirmation of each image transmission data packet by the control terminal according to the received feedback information condition.
  • an embodiment of the present invention provides another method for transmitting confirmation information, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a photographing device, and the method includes:
  • the feedback information sent by the control terminal is received through the wireless communication link, wherein the feedback information is obtained by combining the reception acknowledgment information of the control terminal for each image transmission data packet in the plurality of image transmission data packets. Generated;
  • the receiving confirmation status of the control terminal for each image transmission data packet is determined.
  • an embodiment of the present invention provides a control terminal, where the control terminal includes: a memory and a processor;
  • the memory for storing program instructions
  • the processor is configured to call the program instruction, and when the program instruction is executed, is configured to perform the following operations:
  • the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone;
  • the feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the reception confirmation of each image transmission data packet by the control terminal according to the received feedback information condition.
  • an embodiment of the present invention provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:
  • a power system configured on the fuselage for providing the moving power for the UAV
  • processor for:
  • the feedback information sent by the control terminal is received through the wireless communication link, wherein the feedback information is obtained by combining the reception acknowledgment information of the control terminal for each image transmission data packet in the plurality of image transmission data packets. Generated;
  • the receiving confirmation status of the control terminal for each image transmission data packet is determined.
  • an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the first aspect or the second aspect above method.
  • the control terminal may acquire multiple image transmission data packets sent by the drone, determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, and determine the reception confirmation information for each image transmission data packet
  • the received confirmation information is combined to generate feedback information; the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information for each image transmission data packet. acknowledgment status.
  • the reception confirmation information of multiple image transmission data packets is combined and then repeatedly fed back to the UAV, which increases the cost of feedback delay, and can obtain diversity gain in the time dimension. It reduces the estimation error of the UAV on the image transmission bit error rate and improves the estimation accuracy.
  • FIG. 1 is a schematic structural diagram of a UAV communication system provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a transmission method for receiving confirmation information provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a feedback manner of feedback information provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another feedback manner of feedback information provided by an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of another method for transmitting acknowledgement information provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the transmission method for receiving confirmation information provided in the embodiment of the present invention can be applied to an unmanned aerial vehicle communication system, and the unmanned aerial vehicle communication system may include a control terminal and an unmanned aerial vehicle.
  • the control terminal may be spatially independent of the drone; in some embodiments, the control terminal may be wirelessly communicatively connected to the drone.
  • the control terminal may be a terminal device for controlling the flight of the drone, such as a remote controller.
  • the method for transmitting the reception confirmation information can also be applied to other movable devices such as unmanned vehicles and unmanned ships.
  • the transmission method for receiving confirmation information can obtain multiple image transmission data packets sent by the drone through the control terminal, and determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, so as to The received confirmation information of each image transmission data packet is combined to generate feedback information, and the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information.
  • the reception confirmation status of a video packet By controlling the terminal to combine the reception confirmation information of multiple image transmission data packets and then repeatedly feeding it back to the UAV, the cost of feedback delay is increased, the diversity gain in the time dimension can be obtained, and the wireless communication link can be prevented from being damaged.
  • the influence of interference reduces the estimation error of the UAV on the bit error rate of image transmission, and improves the estimation accuracy.
  • the unmanned aerial vehicle communication system provided by the embodiment of the present invention is schematically described below with reference to FIG. 1 .
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle communication system provided by an embodiment of the present invention.
  • the UAV communication system includes: an UAV 11 and a control terminal 12 .
  • the control terminal 12 may establish a communication connection with the drone 11 through a wireless communication connection.
  • the drone 11 and the control terminal 12 may be spatially independent of each other.
  • the UAV 11 includes a power system 111 for providing power for the UAV 11 to move, and the power system 111 may include a motor.
  • the UAV 11 may include a photographing device 112, and the photographing device 112 is used to collect images of the surrounding environment where the UAV 11 is located.
  • the control terminal 12 may acquire multiple image transmission data packets sent by the drone 11 , wherein the multiple image transmission data packets are images obtained by the drone 11 on the images collected by the photographing device 112 . obtained by encoding; the control terminal 12 can determine the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, and combine the reception confirmation information of each image transmission data packet to generate feedback information, and repeatedly sending the feedback information to the UAV 11 through the wireless communication link, so that the UAV 11 determines, according to the received feedback information, that the control terminal 12 transmits data to each image.
  • the reception confirmation status of the packet is a reception confirmation status of the packet.
  • FIG. 2 is a schematic flowchart of a method for transmitting acknowledgement information provided by an embodiment of the present invention.
  • the method can be applied to a control terminal, and the control terminal is wirelessly connected to an unmanned aerial vehicle, wherein, The specific explanation of the control terminal is as described above.
  • the method in the embodiment of the present invention includes the following steps.
  • S201 Acquire multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone of.
  • the control terminal may acquire multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are the pairing of the unmanned aerial vehicle with the photographing device.
  • the captured images are encoded.
  • the number of the image transmission data packets may be preset.
  • the plurality of image transmission data packets are 2 or more image transmission data packets, for example, the control terminal may acquire 5 image transmission data packets sent by the drone.
  • the control terminal may acquire feedback mode indication information before acquiring multiple image transmission data packets sent by the drone, wherein the feedback mode indication information is determined according to a feedback mode evaluation parameter.
  • the control terminal may combine the reception confirmation information of each image transmission data packet to generate the feedback information.
  • the feedback mode evaluation parameters include a bit error rate of the wireless communication link, the distance between the control terminal and the drone, the drone and the control terminal One or more of the signal noise level of the environment and the quantization parameter of the image output by the coded camera.
  • the control terminal when acquiring the feedback mode indication information, may determine the bit error rate of the wireless communication link, and generate the feedback mode indication information according to the bit error rate. In some embodiments, when the bit error rate is greater than or equal to a first bit error rate threshold, the feedback mode indication information is first feedback mode indication information. In some embodiments, when the bit error rate is less than a second bit error rate threshold, the feedback mode indication information is second feedback mode indication information.
  • the control terminal calculates that the bit error rate of the wireless communication link is 15%, if the first bit error rate is 10%, it can be determined that the bit error rate of the wireless communication link is greater than the first bit error rate, so , the first feedback mode indication information can be generated.
  • the control terminal calculates that the bit error rate of the wireless communication link is 6%, if the first bit error rate is 10%, it can be determined that the bit error rate of the wireless communication link is smaller than the first bit error rate, Therefore, the second feedback mode indication information can be generated.
  • the bit error rate of the wireless communication link may be based on the number of ACK information, the number of NACK information and the number of ACK information wrongly judged as NACK information by the drone according to the number of ACK information of the image transmission data packet fed back by the control terminal Calculated.
  • the control terminal when acquiring the feedback mode indication information, may receive the feedback mode indication information sent by the drone through the wireless communication link.
  • the feedback mode indication information includes first feedback mode indication information and second feedback mode indication information.
  • control terminal may receive the second feedback mode indication information sent by the UAV when starting up through the wireless communication link.
  • the second feedback mode indication information is used to instruct the control terminal to send the multiple image transmission data packets to the unmanned aerial vehicle through the wireless communication link respectively when acquiring the multiple image transmission data packets sent by the unmanned aerial vehicle.
  • the reception confirmation information of each image transmission data packet in the image transmission data packet is used to instruct the control terminal to send the multiple image transmission data packets to the unmanned aerial vehicle through the wireless communication link respectively when acquiring the multiple image transmission data packets sent by the unmanned aerial vehicle.
  • the control terminal may receive, through the wireless communication link, the first feedback sent by the UAV when the bit error rate of the wireless communication link is calculated to be greater than or equal to the first bit error rate Mode indication information.
  • the first feedback mode indication information is used to instruct the control terminal to send all image transmission data packets to the drone through the wireless communication link when acquiring multiple image transmission data packets sent by the drone.
  • the received confirmation information is combined with the feedback information, so that the UAV determines the receiving confirmation status of each image transmission data packet by the control terminal according to the received feedback information.
  • S202 Determine reception confirmation information of each image transmission data packet in the plurality of image transmission data packets.
  • the control terminal may determine reception confirmation information of each image transmission data packet in the plurality of image transmission data packets.
  • the acknowledgement of receipt information includes ACK information or NACK information.
  • control terminal when the control terminal determines the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, the control terminal may perform the processing on each image transmission data packet in the plurality of image transmission data packets. Decoding, and determining the reception confirmation information of each image transmission data packet according to the decoding result.
  • S203 Combine the reception confirmation information of each image transmission data packet to generate feedback information.
  • control terminal may combine the reception confirmation information of each image transmission data packet to generate feedback information.
  • the control terminal when the control terminal acquires the first feedback mode indication information, the control terminal may combine the determined reception confirmation information of each image transmission data packet to generate feedback information.
  • FIG. 3 is used as an example for description.
  • FIG. 3 is a schematic diagram of a feedback manner of feedback information provided by an embodiment of the present invention.
  • the drone 31 can send 5 image transmission data packets to the control terminal 32 , which are image transmission data packet 311 , image transmission data packet 312 , image transmission data packet 313 , image transmission data packet 314 , and image transmission data packet 312 .
  • the data packet 315 is transmitted, the control terminal 32 can generate the reception confirmation information 321 of the image transmission data packet 311 when it acquires the image transmission data packet 311, and the control terminal 32 can generate the image transmission data packet 312 when it acquires the image transmission data packet 312.
  • the control terminal 32 can generate the receiving confirmation information 323 of the image transmission data packet 313 when acquiring the image transmission data packet 313, and the control terminal 32 can generate the image transmission data packet 314 when acquiring the image transmission data packet 314.
  • the control terminal 32 may generate reception confirmation information 325 of the image transmission data packet 315 when acquiring the image transmission data packet 315 .
  • the control terminal 32 combines the reception confirmation information 321 , the reception confirmation information 322 , the reception confirmation information 323 , the reception confirmation information 324 , and the reception confirmation information 325 to obtain feedback information 326 , and sends the feedback information 326 to the drone 31 .
  • the feedback information is used to instruct the UAV to determine an encoding strategy or an MCS value according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets.
  • the control terminal sends the feedback information to the drone, so that the drone determines the bit error rate of the wireless communication link according to the feedback information, and determines, according to the bit error rate, a coding strategy for the shooting device to output a new image or MCS value.
  • the reception confirmation information of multiple image transmission data packets is combined into feedback information, which is helpful for repeatedly feeding the feedback information to the UAV, increasing the cost of feedback delay, obtaining the diversity gain in the time dimension, and fighting against wireless
  • the communication link is affected by interference, so as to reduce the estimation error of the UAV on the image transmission bit error rate and improve the estimation accuracy.
  • S204 Repeatedly sending the feedback information to the UAV through the wireless communication link, so that the UAV determines, according to the received feedback information, that the control terminal transmits each image data to the UAV.
  • the reception confirmation status of the packet
  • the control terminal may repeatedly send the feedback information to the unmanned aerial vehicle through a wireless communication link, so that the unmanned aerial vehicle can determine, according to the received feedback information, that the control terminal The reception confirmation status of each image transmission data packet.
  • the number of times the control terminal sends the feedback information to the UAV through the wireless communication link may be a preset number of 2 times or more. In some embodiments, the number of times the control terminal sends the feedback information to the UAV through the wireless communication link may be determined according to a frame structure.
  • the control terminal may send the feedback information to the UAV through the wireless communication link, so that the UAV
  • the computer determines, according to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet.
  • FIG. 3 can be taken as an example.
  • the control terminal 32 can repeatedly send the feedback information 326 to the drone 31, so that the drone can determine, according to the received feedback information, that the control terminal is responsible for the image transmission data packets. 311 .
  • the reception confirmation status of the image transmission data packet 312 , the image transmission data packet 313 , the image transmission data packet 314 , and the image transmission data packet 315 wherein the reception confirmation status includes confirmation of reception or confirmation of non-reception.
  • the control terminal may send each of the multiple image transmission data packets to the drone through the wireless communication link, respectively.
  • the reception confirmation information of a video data packet may be sent.
  • FIG. 4 may be taken as an example, and FIG. 4 is a schematic diagram of another feedback manner of feedback information provided by an embodiment of the present invention.
  • the drone 41 can send 5 image transmission data packets to the control terminal 42 , which are image transmission data packet 411 , image transmission data packet 412 , image transmission data packet 413 , image transmission data packet 414 , and image transmission data packet 412 .
  • the data packet 415 is transmitted, and the control terminal 42 can generate the reception confirmation information 421 of the image transmission data packet 411 when acquiring the image transmission data packet 411 , and send the reception confirmation information 421 to the drone 41 .
  • the control terminal 42 may generate reception confirmation information 422 of the image transmission data packet 412 when acquiring the image transmission data packet 412 , and send the reception confirmation information 421 to the drone 41 .
  • the control terminal 42 may generate reception confirmation information 423 of the image transmission data packet 413 when acquiring the image transmission data packet 413 , and send the reception confirmation information 423 to the drone 41 .
  • the control terminal 42 may generate reception confirmation information 424 of the image transmission data packet 414 when acquiring the image transmission data packet 414 , and send the reception confirmation information 424 to the drone 41 .
  • the control terminal 42 may generate reception confirmation information 425 of the image transmission data packet 415 when acquiring the image transmission data packet 415 , and send the reception confirmation information 425 to the drone 41 .
  • the control terminal may acquire multiple image transmission data packets sent by the drone, determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, and determine the reception confirmation information for each image transmission data packet
  • the received confirmation information is combined to generate feedback information; the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information for each image transmission data packet. acknowledgment status.
  • the reception confirmation information of multiple image transmission data packets is combined and then repeatedly fed back to the UAV, which increases the cost of feedback delay, and can obtain diversity gain in the time dimension. It reduces the estimation error of the UAV on the image transmission bit error rate and improves the estimation accuracy.
  • FIG. 5 is a schematic flowchart of another method for transmitting confirmation information provided by an embodiment of the present invention.
  • the method can be applied to an unmanned aerial vehicle.
  • the specific explanation of the UAV is as mentioned above.
  • the method in the embodiment of the present invention includes the following steps.
  • S501 Encode the image output by the photographing device to obtain a plurality of image transmission data packets.
  • the unmanned aerial vehicle can encode the image output by the photographing device to obtain a plurality of image transmission data packets.
  • S502 Send the multiple image transmission data packets to the control terminal through a wireless communication link.
  • the drone may send the multiple image transmission data packets to the control terminal through a wireless communication link.
  • the number of the image transmission data packets may be preset.
  • the multiple image transmission data packets are 2 or more image transmission data packets, for example, the drone can send 5 image transmission data packets to the control terminal.
  • S503 Receive feedback information sent by the control terminal through the wireless communication link, where the feedback information is the reception confirmation information of the control terminal for each image transmission data packet in the plurality of image transmission data packets generated by merging.
  • the drone may receive feedback information sent by the control terminal through the wireless communication link, where the feedback information is the control terminal's response to each of the multiple image transmission data packets It is generated by combining the reception confirmation information of the image transmission data packet.
  • the UAV can confirm the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets according to the received feedback information.
  • the UAV can confirm the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets according to the received feedback information, and according to each of the plurality of image transmission data packets
  • the reception confirmation information of the image transmission data packet determines the encoding strategy for the new image output by the photographing device or sends the MCS values of multiple image transmission data packets obtained by encoding the new image output by the photographing device.
  • the UAV may acquire feedback mode evaluation parameters, determine feedback mode indication information according to the feedback mode evaluation parameters, and send the feedback mode indication information to the control terminal through the wireless communication link ; wherein, when the feedback mode indication information is the first feedback mode indication information, the first feedback mode indication information is used to instruct the control terminal to combine the reception confirmation information of the multiple image transmission data packets, The feedback information is generated.
  • the feedback mode evaluation parameters include a bit error rate of the wireless communication link, the distance between the control terminal and the drone, the drone and the control terminal One or more of the signal noise level of the environment and the quantization parameter of the image output by the coded camera.
  • the UAV when the UAV determines the feedback mode indication information according to the feedback mode evaluation parameter, it may determine the bit error rate of the wireless communication link, and generate the feedback mode indication according to the bit error rate information. In some embodiments, when the bit error rate is greater than or equal to a first bit error rate threshold, the feedback mode indication information is first feedback mode indication information. In some embodiments, when the bit error rate is less than a second bit error rate threshold, the feedback mode indication information is second feedback mode indication information.
  • the bit error rate of the wireless communication link may be based on the number of ACK information, the number of NACK information and the number of ACK information wrongly judged as NACK information by the drone according to the number of ACK information of the image transmission data packet fed back by the control terminal Calculated.
  • the second feedback mode indication information is used to instruct the control terminal to send the drones to the UAV respectively through the wireless communication link Sending the reception confirmation information of the multiple image transmission data packets; the drone can separately receive the reception of each image transmission data packet in the multiple image transmission data packets sent by the control terminal through the wireless communication link Confirm the information.
  • S504 Determine, according to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet.
  • the UAV may determine, according to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet.
  • the drone may determine an encoding strategy for the new image output by the photographing device or send the photographing device according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets
  • the MCS values of multiple image transmission data packets obtained by encoding the output new image Specifically, the drone can determine the bit error rate of the wireless communication link according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, and determine the output to the photographing device according to the bit error rate
  • the drone can encode the image output by the photographing device to obtain multiple image transmission data packets, and send the multiple image transmission data packets to the control terminal through the wireless communication link, and send the multiple image transmission data packets to the control terminal through the wireless communication link.
  • the wireless communication link receives the feedback information sent by the control terminal, wherein the feedback information is generated by combining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets by the control terminal, Therefore, the receiving confirmation status of each image transmission data packet by the control terminal can be determined according to the received feedback information.
  • the feedback information obtained by combining the reception confirmation information of multiple image transmission data packets sent by the control terminal through the drone is helpful to counteract the influence of interference on the wireless communication link and reduce the bit error rate of the drone to the image transmission. the estimation error and improve the estimation accuracy.
  • FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the control terminal is wirelessly connected to the drone, and the device includes a memory 601, a processor 602, and a data interface 603;
  • the memory 601 may include a volatile memory; the memory 601 may also include a non-volatile memory; the memory 601 may also include a combination of the above-mentioned types of memories.
  • the processor 602 may be a central processing unit (CPU).
  • the processor 602 may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA) or any combination thereof.
  • the processor 602 is configured to invoke the program instruction, and when the program instruction is executed, is configured to perform the following operations:
  • described unmanned aerial vehicle includes photographing device, and described multiple image transmission data packets are obtained by encoding the image collected by photographing device by described unmanned aerial vehicle;
  • the feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the control terminal's response to each image transmission data packet according to the received feedback information. Receive confirmation status.
  • the processor 602 determines the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, it is specifically used for:
  • the feedback information is used to instruct the UAV to determine the encoding strategy or the MCS value of the new image output by the photographing device according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets.
  • processor 602 is also used for:
  • the feedback mode indication information is determined according to a feedback mode evaluation parameter
  • the processor 602 When the processor 602 combines the reception confirmation information of each image transmission data packet, and generates feedback information, it is specifically used for:
  • the feedback mode indication information is the first feedback mode indication information
  • the reception confirmation information of each image transmission data packet is combined to generate the feedback information.
  • the feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the drone, and the environment between the drone and the control terminal.
  • the processor 602 acquires the feedback mode indication information, it is specifically used for:
  • the feedback mode indication information sent by the UAV is received through the wireless communication link.
  • the processor 602 acquires the feedback mode indication information, it is specifically used for:
  • the feedback mode indication information is generated according to the bit error rate.
  • the feedback mode indication information is first feedback mode indication information.
  • the feedback mode indication information is second feedback mode indication information.
  • processor 602 is also used for:
  • the feedback mode indication information is the second feedback mode indication information
  • the control terminal may acquire multiple image transmission data packets sent by the drone, determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, and determine the reception confirmation information for each image transmission data packet
  • the received confirmation information is combined to generate feedback information; the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information for each image transmission data packet. acknowledgment status.
  • the reception confirmation information of multiple image transmission data packets is combined and then repeatedly fed back to the UAV, which increases the cost of feedback delay, and can obtain diversity gain in the time dimension. It reduces the estimation error of the UAV on the image transmission bit error rate and improves the estimation accuracy.
  • Embodiments of the present invention also provide an unmanned aerial vehicle, a fuselage; a power system arranged on the fuselage for providing moving power for the unmanned aerial vehicle; a photographing device mounted on the fuselage, using for collecting images; a processor for encoding the images output by the photographing device to obtain multiple image transmission data packets; sending the multiple image transmission data packets to the control terminal through a wireless communication link; receiving the feedback information sent by the control terminal, wherein the feedback information is generated by combining the reception confirmation information of each image transmission data packet in the multiple image transmission data packets by the control terminal; according to the The received feedback information determines the receiving confirmation status of the control terminal for each image transmission data packet.
  • the gimbal can be directly mounted on the fuselage of the UAV, or mounted on the fuselage of the UAV through a carrying mechanism (eg, a gimbal).
  • processor is also used for:
  • reception confirmation information of each image transmission data packet of the multiple image transmission data packets determine the encoding strategy for the new image output by the shooting device or send multiple images obtained by encoding the new image output by the shooting device The MCS value of the transmitted packet.
  • processor is also used for:
  • the first feedback mode indication information is used to instruct the control terminal to combine the reception confirmation information of the multiple image transmission data packets to generate the feedback information.
  • the feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the drone, and the environment between the drone and the control terminal.
  • the processor determines the feedback mode indication information according to the feedback mode evaluation parameter, it is specifically used for:
  • the feedback mode indication information is generated according to the bit error rate.
  • the feedback mode indication information is first feedback mode indication information.
  • the feedback mode indication information is second feedback mode indication information.
  • the second feedback mode indication information is used to instruct the control terminal to send the UAV to the drone through the wireless communication link respectively.
  • the processor is also used to:
  • the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets sent by the control terminal is respectively received through the wireless communication link.
  • the drone can encode the image output by the photographing device to obtain multiple image transmission data packets, and send the multiple image transmission data packets to the control terminal through the wireless communication link, and send the multiple image transmission data packets to the control terminal through the wireless communication link.
  • the wireless communication link receives the feedback information sent by the control terminal, wherein the feedback information is generated by combining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets by the control terminal, Therefore, the receiving confirmation status of each image transmission data packet by the control terminal can be determined according to the received feedback information.
  • the feedback information obtained by combining the reception confirmation information of multiple image transmission data packets sent by the control terminal through the drone is helpful to counteract the influence of interference on the wireless communication link and reduce the bit error rate of the drone to the image transmission. the estimation error and improve the estimation accuracy.
  • Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method described in the embodiment of the present invention can be implemented, or it can be implemented
  • the devices according to the embodiments of the present invention will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or a memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card equipped on the device , Flash Card (Flash Card) and so on.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the control terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been or will be output.

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Abstract

Provided in the embodiments of the present invention are a transmission method for reception acknowledgement information, a control terminal, an unmanned aerial vehicle, and a storage medium, the method comprising: acquiring a plurality of image transmission data packets sent by an unmanned aerial vehicle, the unmanned aerial vehicle comprising a photographic apparatus, and the plurality of image transmission data packets being obtained by means of the unmanned aerial vehicle performing encoding on images collected by the photographic apparatus; determining reception acknowledgement information of each image transmission data packet amongst the plurality of image transmission data packets; merging the reception acknowledgement information of each image transmission data packet to generate feedback information; and, by means of a wireless communication link, repeatedly sending the feedback information to the unmanned aerial vehicle such that, on the basis of the received feedback information, the unmanned aerial vehicle determines the reception acknowledgement state of a control terminal for each image transmission data packet. By means of the present method, the estimation error of the unmanned aerial vehicle for the image transmission bit error rate can be reduced, increasing estimation accuracy.

Description

接收确认信息的传输方法、控制终端、无人机及存储介质Transmission method, control terminal, drone and storage medium for receiving confirmation information 技术领域technical field
本发明涉及通信技术领域，尤其涉及一种接收确认信息的传输方法、控制终端、无人机及存储介质。The present invention relates to the field of communication technologies, and in particular, to a transmission method for receiving confirmation information, a control terminal, an unmanned aerial vehicle and a storage medium.
背景技术Background technique
无人机通信***为了最大化无线通信链路的吞吐率，无人机会自适应的根据无线通信链路的误码率调整下行数据(例如图像)的编码策略(例如对图像编码的量化参数)或者调制与编码策略(Modulation and Coding Scheme，MCS)，然而由于无线通信链路容易受到干扰，会导致误码率统计不准确。例如，当无线通信链路受到干扰时，无人机可能会将控制终端反馈的接收确认信息(Acknowledge，ACK)错误判断为否定接收确认信息多ACK，从而导致无人机统计的误码率比实际的误码率高，从而导致误码率估计不准。In order to maximize the throughput rate of the wireless communication link, the UAV communication system will adaptively adjust the encoding strategy of downlink data (such as images) according to the bit error rate of the wireless communication link (such as quantization parameters for image coding) Or modulation and coding strategy (Modulation and Coding Scheme, MCS), however, because the wireless communication link is susceptible to interference, it will lead to inaccurate bit error rate statistics. For example, when the wireless communication link is interfered, the UAV may incorrectly judge the reception acknowledgment information (Acknowledge, ACK) fed back by the control terminal as negative reception confirmation information with multiple ACKs, resulting in the BER ratio of the UAV statistics. The actual bit error rate is high, resulting in inaccurate estimation of the bit error rate.
发明内容SUMMARY OF THE INVENTION
本发明实施例提供了一种接收确认信息的传输方法、控制终端、无人机及存储介质，以减小了无人机对图传误码率的估计误差，提高估计准确度。Embodiments of the present invention provide a transmission method for receiving confirmation information, a control terminal, an unmanned aerial vehicle and a storage medium, so as to reduce the estimation error of the image transmission bit error rate by the unmanned aerial vehicle and improve the estimation accuracy.
第一方面，本发明实施例提供了一种接收确认信息的传输方法，应用于控制终端，所述方法包括：In a first aspect, an embodiment of the present invention provides a method for transmitting acknowledgment information, which is applied to a control terminal, and the method includes:
获取无人机发送的多个图传数据包，其中，所述无人机包括拍摄装置，所述多个图传数据包是所述无人机对拍摄装置采集到的图像进行编码得到的；Obtaining multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone;
确定所述多个图传数据包中每一个图传数据包的接收确认信息；determining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets;
对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息；Combine the reception confirmation information of each image transmission data packet to generate feedback information;
通过无线通信链路向所述无人机重复多次发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定控制终端对所述每一个图传数据包的接收确认状态。The feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the reception confirmation of each image transmission data packet by the control terminal according to the received feedback information condition.
第二方面，本发明实施例提供了另一种接收确认信息的传输方法，应用于无人机，所述无人机包括拍摄装置，所述方法包括：In a second aspect, an embodiment of the present invention provides another method for transmitting confirmation information, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a photographing device, and the method includes:
对拍摄装置输出的图像进行编码，得到多个图传数据包；Encoding the image output by the photographing device to obtain a plurality of image transmission data packets;
通过无线通信链路向控制终端发送所述多个图传数据包；Send the plurality of image transmission data packets to the control terminal through a wireless communication link;
通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的；The feedback information sent by the control terminal is received through the wireless communication link, wherein the feedback information is obtained by combining the reception acknowledgment information of the control terminal for each image transmission data packet in the plurality of image transmission data packets. Generated;
根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。According to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet is determined.
第三方面，本发明实施例提供了一种控制终端，所述控制终端包括：存储器和处理器；In a third aspect, an embodiment of the present invention provides a control terminal, where the control terminal includes: a memory and a processor;
所述存储器，用于存储程序指令；the memory for storing program instructions;
所述处理器，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor is configured to call the program instruction, and when the program instruction is executed, is configured to perform the following operations:
获取无人机发送的多个图传数据包，其中，所述无人机包括拍摄装置，所述多个图传数据包是所述无人机对拍摄装置采集到的图像进行编码得到的；Obtaining multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone;
确定所述多个图传数据包中每一个图传数据包的接收确认信息；determining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets;
对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息；Combine the reception confirmation information of each image transmission data packet to generate feedback information;
通过无线通信链路向所述无人机重复多次发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定控制终端对所述每一个图传数据包的接收确认状态。The feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the reception confirmation of each image transmission data packet by the control terminal according to the received feedback information condition.
第四方面，本发明实施例提供了一种无人机，所述无人机包括：In a fourth aspect, an embodiment of the present invention provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:
机身；body;
配置在机身上的动力***，用于为所述无人机提供移动的动力；a power system configured on the fuselage for providing the moving power for the UAV;
拍摄装置，用于采集图像；a photographing device for collecting images;
处理器，用于：processor for:
对拍摄装置输出的图像进行编码，得到多个图传数据包；Encoding the image output by the photographing device to obtain a plurality of image transmission data packets;
通过无线通信链路向控制终端发送所述多个图传数据包；Send the plurality of image transmission data packets to the control terminal through a wireless communication link;
通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的；The feedback information sent by the control terminal is received through the wireless communication link, wherein the feedback information is obtained by combining the reception acknowledgment information of the control terminal for each image transmission data packet in the plurality of image transmission data packets. Generated;
根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。According to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet is determined.
第五方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面或第二方面所述的方法。In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the first aspect or the second aspect above method.
本发明实施例中，控制终端可以获取无人机发送的多个图传数据包，并确定多个图传数据包中每一个图传数据包的接收确认信息，以及对每一个图传数据包的接收确认信息进行合并，生成反馈信息；通过无线通信链路向无人机重复多次发送该反馈信息，以使无人机根据接收到的该反馈信息确定控制终端对每一个图传数据包的接收确认状态。通过控制终端将多个图传数据包的接收确认信息合并后再重复多次反馈给无人机，增加了反馈延时的代价，可以获得时间维度的分集增益，对抗无线通信链路受到干扰的影响，减小了无人机对图传误码率的估计误差，提高了估计准确度。In the embodiment of the present invention, the control terminal may acquire multiple image transmission data packets sent by the drone, determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, and determine the reception confirmation information for each image transmission data packet The received confirmation information is combined to generate feedback information; the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information for each image transmission data packet. acknowledgment status. Through the control terminal, the reception confirmation information of multiple image transmission data packets is combined and then repeatedly fed back to the UAV, which increases the cost of feedback delay, and can obtain diversity gain in the time dimension. It reduces the estimation error of the UAV on the image transmission bit error rate and improves the estimation accuracy.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1是本发明实施例提供的一种无人机通信***的结构示意图；1 is a schematic structural diagram of a UAV communication system provided by an embodiment of the present invention;
图2是本发明实施例提供的一种接收确认信息的传输方法的流程示意图；2 is a schematic flowchart of a transmission method for receiving confirmation information provided by an embodiment of the present invention;
图3是本发明实施例提供的一种反馈信息的反馈方式的示意图；3 is a schematic diagram of a feedback manner of feedback information provided by an embodiment of the present invention;
图4是本发明实施例提供的另一种反馈信息的反馈方式的示意图；4 is a schematic diagram of another feedback manner of feedback information provided by an embodiment of the present invention;
图5是本发明实施例提供的另一种接收确认信息的传输方法的流程示意图；5 is a schematic flowchart of another method for transmitting acknowledgement information provided by an embodiment of the present invention;
图6是本发明实施例提供的一种控制终端的结构示意图。FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.
本发明实施例中提供的接收确认信息的传输方法可以应用于一种无人机通信***中，所述无人机通信***可以包括控制终端和无人机。在某些实施例中，所述控制终端可以在空间上独立于无人机；在某些实施例中，所述控制终端可以与无人机无线通信连接。在某些实施例中，所述控制终端可以为用于控制无人机飞行的终端设备，如遥控器等。在某些实施例中，所述接收确认信息的传输方法还可以应用于无人车、无人船等其他可移动设备。The transmission method for receiving confirmation information provided in the embodiment of the present invention can be applied to an unmanned aerial vehicle communication system, and the unmanned aerial vehicle communication system may include a control terminal and an unmanned aerial vehicle. In some embodiments, the control terminal may be spatially independent of the drone; in some embodiments, the control terminal may be wirelessly communicatively connected to the drone. In some embodiments, the control terminal may be a terminal device for controlling the flight of the drone, such as a remote controller. In some embodiments, the method for transmitting the reception confirmation information can also be applied to other movable devices such as unmanned vehicles and unmanned ships.
本发明实施例提供的接收确认信息的传输方法可以通过控制终端获取无人机发送的多个图传数据包，并确定多个图传数据包中每一个图传数据包的接收确认信息，以对每一个图传数据包的接收确认信息进行合并生成反馈信息，通过无线通信链路向无人机重复多次发送该反馈信息，以使无人机根据接收到的反馈信息确定控制终端对每一个图传数据包的接收确认状态。通过控制终端将多个图传数据包的接收确认信息合并后再重复多次反馈给无人机的方式，增加了反馈延时的代价，可以获得时间维度的分集增益，对抗无线通信链路受到干扰的影响，减小了无人机对图传误码率的估计误差，提高了估计准确度。The transmission method for receiving confirmation information provided by the embodiment of the present invention can obtain multiple image transmission data packets sent by the drone through the control terminal, and determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, so as to The received confirmation information of each image transmission data packet is combined to generate feedback information, and the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information. The reception confirmation status of a video packet. By controlling the terminal to combine the reception confirmation information of multiple image transmission data packets and then repeatedly feeding it back to the UAV, the cost of feedback delay is increased, the diversity gain in the time dimension can be obtained, and the wireless communication link can be prevented from being damaged. The influence of interference reduces the estimation error of the UAV on the bit error rate of image transmission, and improves the estimation accuracy.
下面结合图1对本发明实施例提供的无人机通信***进行示意性说明。The unmanned aerial vehicle communication system provided by the embodiment of the present invention is schematically described below with reference to FIG. 1 .
请参见图1，图1是本发明实施例提供的一种无人机通信***的结构示意图。所述无人机通信***包括：无人机11和控制终端12。在某些实施例中，控制终端12可以通过无线通信连接方式与无人机11建立通信连接。在某些实施例中，无人机11和控制终端12可以在空间上彼此独立。在某些实施例中，所述无人机11包括动力***111，所述动力***111用于为无人机11提供移动的动力，所述动力***111可以包括电机。在某些实施例中，所述无人机11上可以包括拍摄装置112，所述拍摄装置112用于采集无人机11所处周围环境的图像。Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle communication system provided by an embodiment of the present invention. The UAV communication system includes: an UAV 11 and a control terminal 12 . In some embodiments, the control terminal 12 may establish a communication connection with the drone 11 through a wireless communication connection. In some embodiments, the drone 11 and the control terminal 12 may be spatially independent of each other. In some embodiments, the UAV 11 includes a power system 111 for providing power for the UAV 11 to move, and the power system 111 may include a motor. In some embodiments, the UAV 11 may include a photographing device 112, and the photographing device 112 is used to collect images of the surrounding environment where the UAV 11 is located.
本发明实施例中，控制终端12可以获取无人机11发送的多个图传数据包，其中，所述多个图传数据包是所述无人机11对拍摄装置112采集到的图像进行编码得到的；控制终端12可以确定所述多个图传数据包中每一个图传数据包的接收确认信息，并对所述每一个图传数据包的接收确认信息进行合并，生 成反馈信息，以及通过无线通信链路向无人机11重复多次发送所述反馈信息，以使所述无人机11根据接收到的所述反馈信息确定所述控制终端12对所述每一个图传数据包的接收确认状态。In this embodiment of the present invention, the control terminal 12 may acquire multiple image transmission data packets sent by the drone 11 , wherein the multiple image transmission data packets are images obtained by the drone 11 on the images collected by the photographing device 112 . obtained by encoding; the control terminal 12 can determine the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, and combine the reception confirmation information of each image transmission data packet to generate feedback information, and repeatedly sending the feedback information to the UAV 11 through the wireless communication link, so that the UAV 11 determines, according to the received feedback information, that the control terminal 12 transmits data to each image. The reception confirmation status of the packet.
下面结合附图2-附图5对本发明实施例提供的接收确认信息的传输方法进行示意性说明。The following is a schematic description of the transmission method of the reception confirmation information provided by the embodiment of the present invention with reference to FIG. 2 to FIG. 5 .
具体请参见图2，图2是本发明实施例提供的一种接收确认信息的传输方法的流程示意图，所述方法可以应用于控制终端，所述控制终端与无人机无线通信连接，其中，控制终端的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。Please refer to FIG. 2 for details. FIG. 2 is a schematic flowchart of a method for transmitting acknowledgement information provided by an embodiment of the present invention. The method can be applied to a control terminal, and the control terminal is wirelessly connected to an unmanned aerial vehicle, wherein, The specific explanation of the control terminal is as described above. Specifically, the method in the embodiment of the present invention includes the following steps.
S201：获取无人机发送的多个图传数据包，其中，所述无人机包括拍摄装置，所述多个图传数据包是所述无人机对拍摄装置采集到的图像进行编码得到的。S201: Acquire multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone of.
本发明实施例中，控制终端可以获取无人机发送的多个图传数据包，其中，所述无人机包括拍摄装置，所述多个图传数据包是所述无人机对拍摄装置采集到的图像进行编码得到的。在某些实施例中，所述图传数据包的数量可以是预先设置的。在某些实施例中，所述多个图传数据包为2个或2个以上的图传数据包，例如，控制终端可以获取无人机发送的5个图传数据包。In this embodiment of the present invention, the control terminal may acquire multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are the pairing of the unmanned aerial vehicle with the photographing device. The captured images are encoded. In some embodiments, the number of the image transmission data packets may be preset. In some embodiments, the plurality of image transmission data packets are 2 or more image transmission data packets, for example, the control terminal may acquire 5 image transmission data packets sent by the drone.
在一个实施例中，控制终端在获取无人机发送的多个图传数据包之前，可以获取反馈模式指示信息，其中，所述反馈模式指示信息是根据反馈模式评估参数确定的，当所述反馈模式指示信息为第一反馈模式指示信息时，控制终端可以对所述每一个图传数据包的接收确认信息进行合并，生成所述反馈信息。In one embodiment, the control terminal may acquire feedback mode indication information before acquiring multiple image transmission data packets sent by the drone, wherein the feedback mode indication information is determined according to a feedback mode evaluation parameter. When the feedback mode indication information is the first feedback mode indication information, the control terminal may combine the reception confirmation information of each image transmission data packet to generate the feedback information.
在某些实施例中，所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。In some embodiments, the feedback mode evaluation parameters include a bit error rate of the wireless communication link, the distance between the control terminal and the drone, the drone and the control terminal One or more of the signal noise level of the environment and the quantization parameter of the image output by the coded camera.
在一个实施例中，控制终端在获取反馈模式指示信息时，可以确定所述无线通信链路的误码率，并根据所述误码率生成所述反馈模式指示信息。在某些实施例中，当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第一反馈模式指示信息。在某些实施例中，当所述误码率小于第二误码率 阈值时，所述反馈模式指示信息为第二反馈模式指示信息。In one embodiment, when acquiring the feedback mode indication information, the control terminal may determine the bit error rate of the wireless communication link, and generate the feedback mode indication information according to the bit error rate. In some embodiments, when the bit error rate is greater than or equal to a first bit error rate threshold, the feedback mode indication information is first feedback mode indication information. In some embodiments, when the bit error rate is less than a second bit error rate threshold, the feedback mode indication information is second feedback mode indication information.
例如，假设控制终端计算得到所述无线通信链路的误码率为15％，如果第一误码率为10％，则可以确定无线通信链路的误码率大于第一误码率，因此，可以生成第一反馈模式指示信息。For example, assuming that the control terminal calculates that the bit error rate of the wireless communication link is 15%, if the first bit error rate is 10%, it can be determined that the bit error rate of the wireless communication link is greater than the first bit error rate, so , the first feedback mode indication information can be generated.
又例如，假设控制终端计算得到所述无线通信链路的误码率为6％，如果第一误码率为10％，则可以确定无线通信链路的误码率小于第一误码率，因此，可以生成第二反馈模式指示信息。For another example, assuming that the control terminal calculates that the bit error rate of the wireless communication link is 6%, if the first bit error rate is 10%, it can be determined that the bit error rate of the wireless communication link is smaller than the first bit error rate, Therefore, the second feedback mode indication information can be generated.
在一个实施例中，所述无线通信链路的误码率可以根据控制终端反馈的图传数据包的ACK信息的数量、NACK信息的数量以及ACK信息被无人机错误判断为NACK信息的数量计算得到。In one embodiment, the bit error rate of the wireless communication link may be based on the number of ACK information, the number of NACK information and the number of ACK information wrongly judged as NACK information by the drone according to the number of ACK information of the image transmission data packet fed back by the control terminal Calculated.
在一个实施例中，控制终端在获取反馈模式指示信息时，可以通过所述无线通信链路接收所述无人机发送的所述反馈模式指示信息。在某些实施例中，所述反馈模式指示信息包括第一反馈模式指示信息和第二反馈模式指示信息。In one embodiment, when acquiring the feedback mode indication information, the control terminal may receive the feedback mode indication information sent by the drone through the wireless communication link. In some embodiments, the feedback mode indication information includes first feedback mode indication information and second feedback mode indication information.
在一种实施方式中，控制终端可以通过所述无线通信链路接收所述无人机在启动时发送的所述第二反馈模式指示信息。其中，所述第二反馈模式指示信息用于指示控制终端在获取到无人机发送的多个图传数据包时，通过所述无线通信链路分别向所述无人机发送所述多个图传数据包中每一个图传数据包的接收确认信息。In an implementation manner, the control terminal may receive the second feedback mode indication information sent by the UAV when starting up through the wireless communication link. Wherein, the second feedback mode indication information is used to instruct the control terminal to send the multiple image transmission data packets to the unmanned aerial vehicle through the wireless communication link respectively when acquiring the multiple image transmission data packets sent by the unmanned aerial vehicle. The reception confirmation information of each image transmission data packet in the image transmission data packet.
在一种实施方式中，控制终端可以通过所述无线通信链路接收所述无人机在计算出无线通信链路的误码率大于或等于第一误码率时发送的所述第一反馈模式指示信息。其中，所述第一反馈模式指示信息用于指示控制终端在获取到无人机发送的多个图传数据包时，通过所述无线通信链路向所述无人机发送所有图传数据包的接收确认信息合并得到的反馈信息，以使所述无人机根据接收到的所述反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。In an implementation manner, the control terminal may receive, through the wireless communication link, the first feedback sent by the UAV when the bit error rate of the wireless communication link is calculated to be greater than or equal to the first bit error rate Mode indication information. The first feedback mode indication information is used to instruct the control terminal to send all image transmission data packets to the drone through the wireless communication link when acquiring multiple image transmission data packets sent by the drone The received confirmation information is combined with the feedback information, so that the UAV determines the receiving confirmation status of each image transmission data packet by the control terminal according to the received feedback information.
S202：确定所述多个图传数据包中每一个图传数据包的接收确认信息。S202: Determine reception confirmation information of each image transmission data packet in the plurality of image transmission data packets.
本发明实施例中，控制终端可以确定所述多个图传数据包中每一个图传数据包的接收确认信息。在某些实施例中，所述接收确认信息包括ACK信息或NACK信息。In this embodiment of the present invention, the control terminal may determine reception confirmation information of each image transmission data packet in the plurality of image transmission data packets. In some embodiments, the acknowledgement of receipt information includes ACK information or NACK information.
在一个实施例中，控制终端在确定所述多个图传数据包中每一个图传数据 包的接收确认信息时，可以对所述多个图传数据包中的每一个图传数据包进行解码，并根据解码结果确定所述每一个图传数据包的接收确认信息。In one embodiment, when the control terminal determines the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, the control terminal may perform the processing on each image transmission data packet in the plurality of image transmission data packets. Decoding, and determining the reception confirmation information of each image transmission data packet according to the decoding result.
S203：对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息。S203: Combine the reception confirmation information of each image transmission data packet to generate feedback information.
本发明实施例中，控制终端可以对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息。In this embodiment of the present invention, the control terminal may combine the reception confirmation information of each image transmission data packet to generate feedback information.
在一个实施例中，当所述控制终端在获取到第一反馈模式指示信息的情况下，可以对确定的每一个图传数据包的接收确认信息进行合并，生成反馈信息。In one embodiment, when the control terminal acquires the first feedback mode indication information, the control terminal may combine the determined reception confirmation information of each image transmission data packet to generate feedback information.
具体可以图3为例进行说明，图3是本发明实施例提供的一种反馈信息的反馈方式的示意图。如图3所示，无人机31可以向控制终端32发送5个图传数据包，分别为图传数据包311、图传数据包312、图传数据包313、图传数据包314、图传数据包315，控制终端32在获取到图传数据包311时可以生成图传数据包311的接收确认信息321，控制终端32在获取到图传数据包312时可以生成图传数据包312的接收确认信息322，控制终端32在获取到图传数据包313时可以生成图传数据包313的接收确认信息323，控制终端32在获取到图传数据包314时可以生成图传数据包314的接收确认信息324，控制终端32在获取到图传数据包315时可以生成图传数据包315的接收确认信息325。控制终端32对接收确认信息321、接收确认信息322、接收确认信息323、接收确认信息324、接收确认信息325进行合并处理，得到反馈信息326，并将反馈信息326发送给无人机31。Specifically, FIG. 3 is used as an example for description. FIG. 3 is a schematic diagram of a feedback manner of feedback information provided by an embodiment of the present invention. As shown in FIG. 3 , the drone 31 can send 5 image transmission data packets to the control terminal 32 , which are image transmission data packet 311 , image transmission data packet 312 , image transmission data packet 313 , image transmission data packet 314 , and image transmission data packet 312 . The data packet 315 is transmitted, the control terminal 32 can generate the reception confirmation information 321 of the image transmission data packet 311 when it acquires the image transmission data packet 311, and the control terminal 32 can generate the image transmission data packet 312 when it acquires the image transmission data packet 312. Receiving confirmation information 322, the control terminal 32 can generate the receiving confirmation information 323 of the image transmission data packet 313 when acquiring the image transmission data packet 313, and the control terminal 32 can generate the image transmission data packet 314 when acquiring the image transmission data packet 314. After receiving confirmation information 324 , the control terminal 32 may generate reception confirmation information 325 of the image transmission data packet 315 when acquiring the image transmission data packet 315 . The control terminal 32 combines the reception confirmation information 321 , the reception confirmation information 322 , the reception confirmation information 323 , the reception confirmation information 324 , and the reception confirmation information 325 to obtain feedback information 326 , and sends the feedback information 326 to the drone 31 .
在某些实施例中，所述反馈信息用于指示所述无人机根据所述多个图传数据包中每一个图传数据包的接收确认信息确定编码策略或者MCS值。具体地，控制终端将所述反馈信息发送无人机，以使无人机根据所述反馈信息确定无线通信链路的误码率，并根据误码率确定拍摄装置输出新图像的编码策略或者MCS值。In some embodiments, the feedback information is used to instruct the UAV to determine an encoding strategy or an MCS value according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets. Specifically, the control terminal sends the feedback information to the drone, so that the drone determines the bit error rate of the wireless communication link according to the feedback information, and determines, according to the bit error rate, a coding strategy for the shooting device to output a new image or MCS value.
通过控制终端将多个图传数据包的接收确认信息合并为反馈信息，有助于将反馈信息重复多次反馈给无人机，增加反馈延时的代价，获得时间维度的分集增益，对抗无线通信链路受到干扰的影响，以减小无人机对图传误码率的估计误差，提高估计准确度。By controlling the terminal, the reception confirmation information of multiple image transmission data packets is combined into feedback information, which is helpful for repeatedly feeding the feedback information to the UAV, increasing the cost of feedback delay, obtaining the diversity gain in the time dimension, and fighting against wireless The communication link is affected by interference, so as to reduce the estimation error of the UAV on the image transmission bit error rate and improve the estimation accuracy.
S204：通过无线通信链路向所述无人机重复多次发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定所述控制终端对所述每一个图传 数据包的接收确认状态。S204: Repeatedly sending the feedback information to the UAV through the wireless communication link, so that the UAV determines, according to the received feedback information, that the control terminal transmits each image data to the UAV. The reception confirmation status of the packet.
本发明实施例中，控制终端可以通过无线通信链路向所述无人机重复多次发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。在某些实施例中，所述控制终端通过无线通信链路向所述无人机发送所述反馈信息的次数可以是预先设置的2次或2次以上的次数。在某些实施例中，所述控制终端通过无线通信链路向所述无人机发送所述反馈信息的次数可以是根据帧结构确定的。In this embodiment of the present invention, the control terminal may repeatedly send the feedback information to the unmanned aerial vehicle through a wireless communication link, so that the unmanned aerial vehicle can determine, according to the received feedback information, that the control terminal The reception confirmation status of each image transmission data packet. In some embodiments, the number of times the control terminal sends the feedback information to the UAV through the wireless communication link may be a preset number of 2 times or more. In some embodiments, the number of times the control terminal sends the feedback information to the UAV through the wireless communication link may be determined according to a frame structure.
在一个实施例中，当所述反馈模式指示信息为第一反馈模式指示信息时，控制终端可以通过所述无线通信链路向所述无人机发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。具体可以图3为例，控制终端32可以将反馈信息326重复多次发送给无人机31，以使无人机可以根据接收到的所述反馈信息确定所述控制终端分别对图传数据包311、图传数据包312、图传数据包313、图传数据包314、图传数据包315的接收确认状态，其中，所述接收确认状态包括确认接收或确认未接收。In one embodiment, when the feedback mode indication information is the first feedback mode indication information, the control terminal may send the feedback information to the UAV through the wireless communication link, so that the UAV The computer determines, according to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet. Specifically, FIG. 3 can be taken as an example. The control terminal 32 can repeatedly send the feedback information 326 to the drone 31, so that the drone can determine, according to the received feedback information, that the control terminal is responsible for the image transmission data packets. 311 . The reception confirmation status of the image transmission data packet 312 , the image transmission data packet 313 , the image transmission data packet 314 , and the image transmission data packet 315 , wherein the reception confirmation status includes confirmation of reception or confirmation of non-reception.
在一个实施例中，当所述反馈模式指示信息为第二反馈模式指示信息时，控制终端可以通过所述无线通信链路分别向所述无人机发送所述多个图传数据包中每一个图传数据包的接收确认信息。In one embodiment, when the feedback mode indication information is the second feedback mode indication information, the control terminal may send each of the multiple image transmission data packets to the drone through the wireless communication link, respectively. The reception confirmation information of a video data packet.
具体可以图4为例，图4是本发明实施例提供的另一种反馈信息的反馈方式的示意图。如图4所示，无人机41可以向控制终端42发送5个图传数据包，分别为图传数据包411、图传数据包412、图传数据包413、图传数据包414、图传数据包415，控制终端42在获取到图传数据包411时可以生成图传数据包411的接收确认信息421，并将接收确认信息421发送给无人机41。控制终端42在获取到图传数据包412时可以生成图传数据包412的接收确认信息422，并将接收确认信息421发送给无人机41。控制终端42在获取到图传数据包413时可以生成图传数据包413的接收确认信息423，并将接收确认信息423发送给无人机41。控制终端42在获取到图传数据包414时可以生成图传数据包414的接收确认信息424，并将接收确认信息424发送给无人机41。控制终端42在获取到图传数据包415时可以生成图传数据包415的接收确认信息425，并将接收确认信息425发送给无人机41。Specifically, FIG. 4 may be taken as an example, and FIG. 4 is a schematic diagram of another feedback manner of feedback information provided by an embodiment of the present invention. As shown in FIG. 4 , the drone 41 can send 5 image transmission data packets to the control terminal 42 , which are image transmission data packet 411 , image transmission data packet 412 , image transmission data packet 413 , image transmission data packet 414 , and image transmission data packet 412 . The data packet 415 is transmitted, and the control terminal 42 can generate the reception confirmation information 421 of the image transmission data packet 411 when acquiring the image transmission data packet 411 , and send the reception confirmation information 421 to the drone 41 . The control terminal 42 may generate reception confirmation information 422 of the image transmission data packet 412 when acquiring the image transmission data packet 412 , and send the reception confirmation information 421 to the drone 41 . The control terminal 42 may generate reception confirmation information 423 of the image transmission data packet 413 when acquiring the image transmission data packet 413 , and send the reception confirmation information 423 to the drone 41 . The control terminal 42 may generate reception confirmation information 424 of the image transmission data packet 414 when acquiring the image transmission data packet 414 , and send the reception confirmation information 424 to the drone 41 . The control terminal 42 may generate reception confirmation information 425 of the image transmission data packet 415 when acquiring the image transmission data packet 415 , and send the reception confirmation information 425 to the drone 41 .
本发明实施例中，控制终端可以获取无人机发送的多个图传数据包，并确定多个图传数据包中每一个图传数据包的接收确认信息，以及对每一个图传数据包的接收确认信息进行合并，生成反馈信息；通过无线通信链路向无人机重复多次发送该反馈信息，以使无人机根据接收到的该反馈信息确定控制终端对每一个图传数据包的接收确认状态。通过控制终端将多个图传数据包的接收确认信息合并后再重复多次反馈给无人机，增加了反馈延时的代价，可以获得时间维度的分集增益，对抗无线通信链路受到干扰的影响，减小了无人机对图传误码率的估计误差，提高了估计准确度。In the embodiment of the present invention, the control terminal may acquire multiple image transmission data packets sent by the drone, determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, and determine the reception confirmation information for each image transmission data packet The received confirmation information is combined to generate feedback information; the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information for each image transmission data packet. acknowledgment status. Through the control terminal, the reception confirmation information of multiple image transmission data packets is combined and then repeatedly fed back to the UAV, which increases the cost of feedback delay, and can obtain diversity gain in the time dimension. It reduces the estimation error of the UAV on the image transmission bit error rate and improves the estimation accuracy.
具体请参见图5，图5是本发明实施例提供的另一种接收确认信息的传输方法的流程示意图，所述方法可以应用于无人机，所述无人机与控制终端无线通信连接，其中，无人机的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。Please refer to FIG. 5 for details. FIG. 5 is a schematic flowchart of another method for transmitting confirmation information provided by an embodiment of the present invention. The method can be applied to an unmanned aerial vehicle. Among them, the specific explanation of the UAV is as mentioned above. Specifically, the method in the embodiment of the present invention includes the following steps.
S501：对拍摄装置输出的图像进行编码，得到多个图传数据包。S501: Encode the image output by the photographing device to obtain a plurality of image transmission data packets.
本发明实施例中，无人机可以对拍摄装置输出的图像进行编码，得到多个图传数据包。In the embodiment of the present invention, the unmanned aerial vehicle can encode the image output by the photographing device to obtain a plurality of image transmission data packets.
S502：通过无线通信链路向控制终端发送所述多个图传数据包。S502: Send the multiple image transmission data packets to the control terminal through a wireless communication link.
本发明实施例中，无人机可以通过无线通信链路向控制终端发送所述多个图传数据包。在某些实施例中，所述图传数据包的数量可以是预先设置的。在某些实施例中，所述多个图传数据包为2个或2个以上的图传数据包，例如，无人机可以向控制终端发送5个图传数据包。In this embodiment of the present invention, the drone may send the multiple image transmission data packets to the control terminal through a wireless communication link. In some embodiments, the number of the image transmission data packets may be preset. In some embodiments, the multiple image transmission data packets are 2 or more image transmission data packets, for example, the drone can send 5 image transmission data packets to the control terminal.
S503：通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的。S503: Receive feedback information sent by the control terminal through the wireless communication link, where the feedback information is the reception confirmation information of the control terminal for each image transmission data packet in the plurality of image transmission data packets generated by merging.
本发明实施例中，无人机可以通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的。无人机可以根据接收到的反馈信息确认所述多个图传数据包中每一个图传数据包的接收确认信息。In this embodiment of the present invention, the drone may receive feedback information sent by the control terminal through the wireless communication link, where the feedback information is the control terminal's response to each of the multiple image transmission data packets It is generated by combining the reception confirmation information of the image transmission data packet. The UAV can confirm the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets according to the received feedback information.
在一个实施例中，无人机可以根据接收到的反馈信息确认所述多个图传数据包中每一个图传数据包的接收确认信息，并根据所述多个图传数据包中每一 个图传数据包的接收确认信息，确定对所述拍摄装置输出的新图像的编码策略或发送所述拍摄装置输出的新图像进行编码得到的多个图传数据包的MCS值。In one embodiment, the UAV can confirm the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets according to the received feedback information, and according to each of the plurality of image transmission data packets The reception confirmation information of the image transmission data packet determines the encoding strategy for the new image output by the photographing device or sends the MCS values of multiple image transmission data packets obtained by encoding the new image output by the photographing device.
在一个实施例中，无人机可以获取反馈模式评估参数，并根据所述反馈模式评估参数确定反馈模式指示信息，以及通过所述无线通信链路向所述控制终端发送所述反馈模式指示信息；其中，当所述反馈模式指示信息为第一反馈模式指示信息时，所述第一反馈模式指示信息用于指示所述控制终端将所述多个图传数据包的接收确认信息进行合并，生成所述反馈信息。In one embodiment, the UAV may acquire feedback mode evaluation parameters, determine feedback mode indication information according to the feedback mode evaluation parameters, and send the feedback mode indication information to the control terminal through the wireless communication link ; wherein, when the feedback mode indication information is the first feedback mode indication information, the first feedback mode indication information is used to instruct the control terminal to combine the reception confirmation information of the multiple image transmission data packets, The feedback information is generated.
在某些实施例中，所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。In some embodiments, the feedback mode evaluation parameters include a bit error rate of the wireless communication link, the distance between the control terminal and the drone, the drone and the control terminal One or more of the signal noise level of the environment and the quantization parameter of the image output by the coded camera.
在一个实施例中，无人机在根据所述反馈模式评估参数确定反馈模式指示信息时，可以确定所述无线通信链路的误码率，并根据所述误码率生成所述反馈模式指示信息。在某些实施例中，当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第一反馈模式指示信息。在某些实施例中，当所述误码率小于第二误码率阈值时，所述反馈模式指示信息为第二反馈模式指示信息。In one embodiment, when the UAV determines the feedback mode indication information according to the feedback mode evaluation parameter, it may determine the bit error rate of the wireless communication link, and generate the feedback mode indication according to the bit error rate information. In some embodiments, when the bit error rate is greater than or equal to a first bit error rate threshold, the feedback mode indication information is first feedback mode indication information. In some embodiments, when the bit error rate is less than a second bit error rate threshold, the feedback mode indication information is second feedback mode indication information.
在一个实施例中，所述无线通信链路的误码率可以根据控制终端反馈的图传数据包的ACK信息的数量、NACK信息的数量以及ACK信息被无人机错误判断为NACK信息的数量计算得到。In one embodiment, the bit error rate of the wireless communication link may be based on the number of ACK information, the number of NACK information and the number of ACK information wrongly judged as NACK information by the drone according to the number of ACK information of the image transmission data packet fed back by the control terminal Calculated.
在一个实施例中，当所述反馈指示信息为第二反馈模式指示信息时，所述第二反馈模式指示信息用于指示所述控制终端通过所述无线通信链路分别向所述无人机发送所述多个图传数据包的接收确认信息；无人机可以通过所述无线通信链路分别接收所述控制终端发送的所述多个图传数据包中每一个图传数据包的接收确认信息。In one embodiment, when the feedback indication information is the second feedback mode indication information, the second feedback mode indication information is used to instruct the control terminal to send the drones to the UAV respectively through the wireless communication link Sending the reception confirmation information of the multiple image transmission data packets; the drone can separately receive the reception of each image transmission data packet in the multiple image transmission data packets sent by the control terminal through the wireless communication link Confirm the information.
S504：根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。S504: Determine, according to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet.
本发明实施例中，无人机可以根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。In this embodiment of the present invention, the UAV may determine, according to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet.
在一个实施例中，无人机可以根据所述多个图传数据包中每一个图传数据包的接收确认信息，确定对所述拍摄装置输出的新图像的编码策略或发送所述拍摄装置输出的新图像进行编码得到的多个图传数据包的MCS值。具体地，无人机可以根据所述多个图传数据包中每一个图传数据包的接收确认信息，确定无线通信链路的误码率，并根据误码率确定对所述拍摄装置输出的新图像的编码策略或发送所述拍摄装置输出的新图像进行编码得到的多个图传数据包的MCS值。In one embodiment, the drone may determine an encoding strategy for the new image output by the photographing device or send the photographing device according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets The MCS values of multiple image transmission data packets obtained by encoding the output new image. Specifically, the drone can determine the bit error rate of the wireless communication link according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, and determine the output to the photographing device according to the bit error rate The encoding strategy of the new image or sending the MCS value of the multiple image transmission data packets obtained by encoding the new image output by the shooting device.
本发明实施例中，无人机可以对拍摄装置输出的图像进行编码，得到多个图传数据包，并通过无线通信链路向控制终端发送所述多个图传数据包，以及通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的，从而可以根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。通过无人机获取控制终端发送的将多个图传数据包的接收确认信息合并得到的反馈信息，有助于对抗无线通信链路受到干扰的影响，减小无人机对图传误码率的估计误差，提高估计准确度。In the embodiment of the present invention, the drone can encode the image output by the photographing device to obtain multiple image transmission data packets, and send the multiple image transmission data packets to the control terminal through the wireless communication link, and send the multiple image transmission data packets to the control terminal through the wireless communication link. The wireless communication link receives the feedback information sent by the control terminal, wherein the feedback information is generated by combining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets by the control terminal, Therefore, the receiving confirmation status of each image transmission data packet by the control terminal can be determined according to the received feedback information. The feedback information obtained by combining the reception confirmation information of multiple image transmission data packets sent by the control terminal through the drone is helpful to counteract the influence of interference on the wireless communication link and reduce the bit error rate of the drone to the image transmission. the estimation error and improve the estimation accuracy.
请参见图6，图6是本发明实施例提供的一种控制终端的结构示意图，所述控制终端与无人机无线通信连接，所述设备包括存储器601、处理器602和数据接口603；Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention. The control terminal is wirelessly connected to the drone, and the device includes a memory 601, a processor 602, and a data interface 603;
所述存储器601可以包括易失性存储器(volatile memory)；存储器601也可以包括非易失性存储器(non-volatile memory)；存储器601还可以包括上述种类的存储器的组合。所述处理器602可以是中央处理器(central processing unit，CPU)。所述处理器602还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。The memory 601 may include a volatile memory; the memory 601 may also include a non-volatile memory; the memory 601 may also include a combination of the above-mentioned types of memories. The processor 602 may be a central processing unit (CPU). The processor 602 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA) or any combination thereof.
所述处理器602，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor 602 is configured to invoke the program instruction, and when the program instruction is executed, is configured to perform the following operations:
获取无人机发送的多个图传数据包，其中，所述无人机包括拍摄装置，所 述多个图传数据包是所述无人机对拍摄装置采集到的图像进行编码得到的；Obtain multiple image transmission data packets sent by unmanned aerial vehicle, wherein, described unmanned aerial vehicle includes photographing device, and described multiple image transmission data packets are obtained by encoding the image collected by photographing device by described unmanned aerial vehicle;
确定所述多个图传数据包中每一个图传数据包的接收确认信息；determining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets;
对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息；Combine the reception confirmation information of each image transmission data packet to generate feedback information;
通过无线通信链路向所述无人机重复多次发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。The feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the control terminal's response to each image transmission data packet according to the received feedback information. Receive confirmation status.
进一步地，所述处理器602确定所述多个图传数据包中每一个图传数据包的接收确认信息时，具体用于：Further, when the processor 602 determines the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, it is specifically used for:
对所述多个图传数据包中的每一个图传数据包进行解码，并根据解码结果确定所述每一个图传数据包的接收确认信息。Decoding each image transmission data packet in the plurality of image transmission data packets, and determining reception confirmation information of each image transmission data packet according to the decoding result.
进一步地，所述反馈信息用于指示所述无人机根据所述多个图传数据包中每一个图传数据包的接收确认信息确定拍摄装置输出新图像的编码策略或者MCS值。Further, the feedback information is used to instruct the UAV to determine the encoding strategy or the MCS value of the new image output by the photographing device according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets.
进一步地，所述处理器602还用于：Further, the processor 602 is also used for:
获取反馈模式指示信息，其中，所述反馈模式指示信息是根据反馈模式评估参数确定的；acquiring feedback mode indication information, wherein the feedback mode indication information is determined according to a feedback mode evaluation parameter;
所述处理器602对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息时，具体用于：When the processor 602 combines the reception confirmation information of each image transmission data packet, and generates feedback information, it is specifically used for:
当所述反馈模式指示信息为第一反馈模式指示信息时，对所述每一个图传数据包的接收确认信息进行合并，生成所述反馈信息。When the feedback mode indication information is the first feedback mode indication information, the reception confirmation information of each image transmission data packet is combined to generate the feedback information.
进一步地，所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。Further, the feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the drone, and the environment between the drone and the control terminal. One or more of the noise level of the signal and the quantization parameter of the image output by the coded camera.
进一步地，所述处理器602获取反馈模式指示信息时，具体用于：Further, when the processor 602 acquires the feedback mode indication information, it is specifically used for:
通过所述无线通信链路接收所述无人机发送的所述反馈模式指示信息。The feedback mode indication information sent by the UAV is received through the wireless communication link.
进一步地，所述处理器602获取反馈模式指示信息时，具体用于：Further, when the processor 602 acquires the feedback mode indication information, it is specifically used for:
确定所述无线通信链路的误码率；determining a bit error rate of the wireless communication link;
根据所述误码率生成所述反馈模式指示信息。The feedback mode indication information is generated according to the bit error rate.
进一步地，当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第一反馈模式指示信息。Further, when the bit error rate is greater than or equal to a first bit error rate threshold, the feedback mode indication information is first feedback mode indication information.
进一步地，当所述误码率小于第二误码率阈值时，所述反馈模式指示信息为第二反馈模式指示信息。Further, when the bit error rate is less than the second bit error rate threshold, the feedback mode indication information is second feedback mode indication information.
进一步地，所述处理器602还用于：Further, the processor 602 is also used for:
当所述反馈模式指示信息为第二反馈模式指示信息时，通过所述无线通信链路分别向所述无人机发送所述多个图传数据包中每一个图传数据包的接收确认信息。When the feedback mode indication information is the second feedback mode indication information, send the reception confirmation information of each image transmission data packet of the plurality of image transmission data packets to the UAV through the wireless communication link respectively .
本发明实施例中，控制终端可以获取无人机发送的多个图传数据包，并确定多个图传数据包中每一个图传数据包的接收确认信息，以及对每一个图传数据包的接收确认信息进行合并，生成反馈信息；通过无线通信链路向无人机重复多次发送该反馈信息，以使无人机根据接收到的该反馈信息确定控制终端对每一个图传数据包的接收确认状态。通过控制终端将多个图传数据包的接收确认信息合并后再重复多次反馈给无人机，增加了反馈延时的代价，可以获得时间维度的分集增益，对抗无线通信链路受到干扰的影响，减小了无人机对图传误码率的估计误差，提高了估计准确度。In the embodiment of the present invention, the control terminal may acquire multiple image transmission data packets sent by the drone, determine the reception confirmation information of each image transmission data packet in the multiple image transmission data packets, and determine the reception confirmation information for each image transmission data packet The received confirmation information is combined to generate feedback information; the feedback information is repeatedly sent to the UAV through the wireless communication link, so that the UAV can determine the control terminal according to the received feedback information for each image transmission data packet. acknowledgment status. Through the control terminal, the reception confirmation information of multiple image transmission data packets is combined and then repeatedly fed back to the UAV, which increases the cost of feedback delay, and can obtain diversity gain in the time dimension. It reduces the estimation error of the UAV on the image transmission bit error rate and improves the estimation accuracy.
本发明实施例还提供了一种无人机，机身；配置在机身上的动力***，用于为所述无人机提供移动的动力；搭载在所述机身上的拍摄装置，用于采集图像；处理器，用于对拍摄装置输出的图像进行编码，得到多个图传数据包；通过无线通信链路向控制终端发送所述多个图传数据包；通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的；根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。其中，云台可以直接搭载在无人机的机身上，或者通过承载机构(例如云台)搭载在无人机的机身上。Embodiments of the present invention also provide an unmanned aerial vehicle, a fuselage; a power system arranged on the fuselage for providing moving power for the unmanned aerial vehicle; a photographing device mounted on the fuselage, using for collecting images; a processor for encoding the images output by the photographing device to obtain multiple image transmission data packets; sending the multiple image transmission data packets to the control terminal through a wireless communication link; receiving the feedback information sent by the control terminal, wherein the feedback information is generated by combining the reception confirmation information of each image transmission data packet in the multiple image transmission data packets by the control terminal; according to the The received feedback information determines the receiving confirmation status of the control terminal for each image transmission data packet. The gimbal can be directly mounted on the fuselage of the UAV, or mounted on the fuselage of the UAV through a carrying mechanism (eg, a gimbal).
进一步地，所述处理器还用于：Further, the processor is also used for:
根据所述多个图传数据包每一个图传数据包的接收确认信息，确定对所述拍摄装置输出的新图像的编码策略或发送所述拍摄装置输出的新图像进行编码得到的多个图传数据包的MCS值。According to the reception confirmation information of each image transmission data packet of the multiple image transmission data packets, determine the encoding strategy for the new image output by the shooting device or send multiple images obtained by encoding the new image output by the shooting device The MCS value of the transmitted packet.
进一步地，所述处理器还用于：Further, the processor is also used for:
获取反馈模式评估参数，并根据所述反馈模式评估参数确定反馈模式指示 信息；Obtaining feedback mode evaluation parameters, and determining feedback mode indication information according to the feedback mode evaluation parameters;
通过所述无线通信链路向所述控制终端发送所述反馈模式指示信息；sending the feedback mode indication information to the control terminal through the wireless communication link;
其中，当所述反馈模式指示信息为第一反馈模式指示信息时，所述第一反馈模式指示信息用于指示所述控制终端将所述多个图传数据包的接收确认信息进行合并，生成所述反馈信息。Wherein, when the feedback mode indication information is the first feedback mode indication information, the first feedback mode indication information is used to instruct the control terminal to combine the reception confirmation information of the multiple image transmission data packets to generate the feedback information.
进一步地，所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。Further, the feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the drone, and the environment between the drone and the control terminal. One or more of the noise level of the signal and the quantization parameter of the image output by the coded camera.
进一步地，所述处理器根据所述反馈模式评估参数确定反馈模式指示信息时，具体用于：Further, when the processor determines the feedback mode indication information according to the feedback mode evaluation parameter, it is specifically used for:
确定所述无线通信链路的误码率；determining a bit error rate of the wireless communication link;
根据所述误码率生成所述反馈模式指示信息。The feedback mode indication information is generated according to the bit error rate.
进一步地，当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第一反馈模式指示信息。Further, when the bit error rate is greater than or equal to a first bit error rate threshold, the feedback mode indication information is first feedback mode indication information.
进一步地，当所述误码率小于第二误码率阈值时，所述反馈模式指示信息为第二反馈模式指示信息。Further, when the bit error rate is less than the second bit error rate threshold, the feedback mode indication information is second feedback mode indication information.
进一步地，当所述反馈指示信息为第二反馈模式指示信息时，所述第二反馈模式指示信息用于指示所述控制终端通过所述无线通信链路分别向所述无人机发送所述多个图传数据包的接收确认信息；Further, when the feedback indication information is the second feedback mode indication information, the second feedback mode indication information is used to instruct the control terminal to send the UAV to the drone through the wireless communication link respectively. Receive confirmation information of multiple image transmission data packets;
所述处理器还用于：The processor is also used to:
通过所述无线通信链路分别接收所述控制终端发送的所述多个图传数据包中每一个图传数据包的接收确认信息。The reception confirmation information of each image transmission data packet in the plurality of image transmission data packets sent by the control terminal is respectively received through the wireless communication link.
本发明实施例中，无人机可以对拍摄装置输出的图像进行编码，得到多个图传数据包，并通过无线通信链路向控制终端发送所述多个图传数据包，以及通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的，从而可以根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。通过无人机获取控制终端发送的将多个图传数据包的接收确认信息合并得到的反馈信息，有助于对抗无线通信链路受到干扰的影响，减小无人机对图传误码率的估计误差，提高估计准确度。In the embodiment of the present invention, the drone can encode the image output by the photographing device to obtain multiple image transmission data packets, and send the multiple image transmission data packets to the control terminal through the wireless communication link, and send the multiple image transmission data packets to the control terminal through the wireless communication link. The wireless communication link receives the feedback information sent by the control terminal, wherein the feedback information is generated by combining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets by the control terminal, Therefore, the receiving confirmation status of each image transmission data packet by the control terminal can be determined according to the received feedback information. The feedback information obtained by combining the reception confirmation information of multiple image transmission data packets sent by the control terminal through the drone is helpful to counteract the influence of interference on the wireless communication link and reduce the bit error rate of the drone to the image transmission. the estimation error and improve the estimation accuracy.
本发明的实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明实施例中描述的方法，也可实现本发明所对应实施例的设备，在此不再赘述。Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method described in the embodiment of the present invention can be implemented, or it can be implemented The devices according to the embodiments of the present invention will not be repeated here.
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述控制终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card equipped on the device , Flash Card (Flash Card) and so on. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the control terminal. The computer-readable storage medium can also be used to temporarily store data that has been or will be output.
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosure is only a part of the embodiments of the present invention, and of course, it cannot limit the scope of the rights of the present invention, so the equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims (37)

  1. 一种接收确认信息的传输方法，其特征在于，应用于控制终端，所述方法包括：A transmission method for receiving confirmation information, characterized in that it is applied to a control terminal, the method comprising:
    获取无人机发送的多个图传数据包，其中，所述无人机包括拍摄装置，所述多个图传数据包是所述无人机对拍摄装置采集到的图像进行编码得到的；Obtaining multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone;
    确定所述多个图传数据包中每一个图传数据包的接收确认信息；determining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets;
    对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息；Combine the reception confirmation information of each image transmission data packet to generate feedback information;
    通过无线通信链路向所述无人机重复多次发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定控制终端对所述每一个图传数据包的接收确认状态。The feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the reception confirmation of each image transmission data packet by the control terminal according to the received feedback information condition.
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述多个图传数据包中每一个图传数据包的接收确认信息，包括：The method according to claim 1, wherein the determining the reception acknowledgment information of each image transmission data packet in the plurality of image transmission data packets comprises:
    对所述多个图传数据包中的每一个图传数据包进行解码，并根据解码结果确定所述每一个图传数据包的接收确认信息。Decoding each image transmission data packet in the plurality of image transmission data packets, and determining reception confirmation information of each image transmission data packet according to the decoding result.
  3. 根据权利要求1所述的方法，其特征在于，The method of claim 1, wherein:
    所述反馈信息用于指示所述无人机根据所述多个图传数据包中每一个图传数据包的接收确认信息确定拍摄装置输出新图像的编码策略或者MCS值。The feedback information is used to instruct the drone to determine, according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, an encoding strategy or an MCS value for outputting a new image by the photographing device.
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    获取反馈模式指示信息，其中，所述反馈模式指示信息是根据反馈模式评估参数确定的；acquiring feedback mode indication information, wherein the feedback mode indication information is determined according to a feedback mode evaluation parameter;
    所述对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息，包括：The receiving confirmation information of each image transmission data packet is combined to generate feedback information, including:
    当所述反馈模式指示信息为第一反馈模式指示信息时，对所述每一个图传数据包的接收确认信息进行合并，生成所述反馈信息。When the feedback mode indication information is the first feedback mode indication information, the reception confirmation information of each image transmission data packet is combined to generate the feedback information.
  5. 根据权利要求4所述的方法，其特征在于，The method of claim 4, wherein:
    所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。The feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the UAV, the signal noise of the environment between the UAV and the control terminal One or more of a degree and a quantization parameter for the image output by the coded camera.
  6. 根据权利要求4所述的方法，其特征在于，所述获取反馈模式指示信息，包括：The method according to claim 4, wherein the acquiring feedback mode indication information comprises:
    通过所述无线通信链路接收所述无人机发送的所述反馈模式指示信息。The feedback mode indication information sent by the UAV is received through the wireless communication link.
  7. 根据权利要求4所述的方法，其特征在于，所述获取反馈模式指示信息，包括：The method according to claim 4, wherein the acquiring feedback mode indication information comprises:
    确定所述无线通信链路的误码率；determining a bit error rate of the wireless communication link;
    根据所述误码率生成所述反馈模式指示信息。The feedback mode indication information is generated according to the bit error rate.
  8. 根据权利要求7所述的方法，其特征在于，The method of claim 7, wherein:
    当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第一反馈模式指示信息。When the bit error rate is greater than or equal to the first bit error rate threshold, the feedback mode indication information is first feedback mode indication information.
  9. 根据权利要求7所述的方法，其特征在于，The method of claim 7, wherein:
    当所述误码率小于第二误码率阈值时，所述反馈模式指示信息为第二反馈模式指示信息。When the bit error rate is less than the second bit error rate threshold, the feedback mode indication information is the second feedback mode indication information.
  10. 根据权利要求4所述的方法，其特征在于，所述方法还包括：The method according to claim 4, wherein the method further comprises:
    当所述反馈模式指示信息为第二反馈模式指示信息时，通过所述无线通信链路分别向所述无人机发送所述多个图传数据包中每一个图传数据包的接收确认信息。When the feedback mode indication information is the second feedback mode indication information, send the reception confirmation information of each image transmission data packet of the plurality of image transmission data packets to the UAV through the wireless communication link respectively .
  11. 一种接收确认信息的传输方法，其特征在于，应用于无人机，所述无人机包括拍摄装置，所述方法包括：A transmission method for receiving confirmation information, characterized in that it is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a photographing device, and the method comprises:
    对拍摄装置输出的图像进行编码，得到多个图传数据包；Encoding the image output by the photographing device to obtain a plurality of image transmission data packets;
    通过无线通信链路向控制终端发送所述多个图传数据包；Send the plurality of image transmission data packets to the control terminal through a wireless communication link;
    通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的；The feedback information sent by the control terminal is received through the wireless communication link, wherein the feedback information is obtained by combining the reception acknowledgment information of the control terminal for each image transmission data packet in the plurality of image transmission data packets. Generated;
    根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。According to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet is determined.
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：The method according to claim 11, wherein the method further comprises:
    根据所述多个图传数据包中每一个图传数据包的接收确认信息，确定对所述拍摄装置输出的新图像的编码策略或发送所述拍摄装置输出的新图像进行编码得到的多个图传数据包的MCS值。According to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, determine the encoding strategy for the new image output by the shooting device or send a plurality of encoding strategies obtained by encoding the new image output by the shooting device The MCS value of the image transmission packet.
  13. 根据权利要求11所述的方法，其特征在于，所述方法还包括：The method according to claim 11, wherein the method further comprises:
    获取反馈模式评估参数，并根据所述反馈模式评估参数确定反馈模式指示信息；acquiring feedback mode evaluation parameters, and determining feedback mode indication information according to the feedback mode evaluation parameters;
    通过所述无线通信链路向所述控制终端发送所述反馈模式指示信息；sending the feedback mode indication information to the control terminal through the wireless communication link;
    其中，当所述反馈模式指示信息为第一反馈模式指示信息时，所述第一反馈模式指示信息用于指示所述控制终端将所述多个图传数据包的接收确认信息进行合并，生成所述反馈信息。Wherein, when the feedback mode indication information is the first feedback mode indication information, the first feedback mode indication information is used to instruct the control terminal to combine the reception confirmation information of the multiple image transmission data packets to generate the feedback information.
  14. 根据权利要求13所述的方法，其特征在于，The method of claim 13, wherein:
    所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。The feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the UAV, the signal noise of the environment between the UAV and the control terminal One or more of a degree and a quantization parameter for the image output by the coded camera.
  15. 根据权利要求13所述的方法，其特征在于，所述根据所述反馈模式评估参数确定反馈模式指示信息，包括：The method according to claim 13, wherein the determining the feedback mode indication information according to the feedback mode evaluation parameter comprises:
    确定所述无线通信链路的误码率；determining a bit error rate of the wireless communication link;
    根据所述误码率生成所述反馈模式指示信息。The feedback mode indication information is generated according to the bit error rate.
  16. 根据权利要求15所述的方法，其特征在于，The method of claim 15, wherein:
    当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第一反馈模式指示信息。When the bit error rate is greater than or equal to the first bit error rate threshold, the feedback mode indication information is first feedback mode indication information.
  17. 根据权利要求15所述的方法，其特征在于，The method of claim 15, wherein:
    当所述误码率小于第二误码率阈值时，所述反馈模式指示信息为第二反馈模式指示信息。When the bit error rate is less than the second bit error rate threshold, the feedback mode indication information is the second feedback mode indication information.
  18. 根据权利要求13所述的方法，其特征在于，当所述反馈指示信息为第二反馈模式指示信息时，所述第二反馈模式指示信息用于指示所述控制终端通过所述无线通信链路分别向所述无人机发送所述多个图传数据包的接收确认信息；The method according to claim 13, wherein when the feedback indication information is second feedback mode indication information, the second feedback mode indication information is used to instruct the control terminal to use the wireless communication link respectively sending the reception confirmation information of the plurality of image transmission data packets to the drone;
    所述方法还包括：The method also includes:
    通过所述无线通信链路分别接收所述控制终端发送的所述多个图传数据包中每一个图传数据包的接收确认信息。The reception confirmation information of each image transmission data packet in the plurality of image transmission data packets sent by the control terminal is respectively received through the wireless communication link.
  19. 一种控制终端，其特征在于，所述控制终端包括：存储器和处理器；A control terminal, characterized in that the control terminal comprises: a memory and a processor;
    所述存储器，用于存储程序指令；the memory for storing program instructions;
    所述处理器，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor is configured to call the program instruction, and when the program instruction is executed, is configured to perform the following operations:
    获取无人机发送的多个图传数据包，其中，所述无人机包括拍摄装置，所述多个图传数据包是所述无人机对拍摄装置采集到的图像进行编码得到的；Obtaining multiple image transmission data packets sent by the drone, wherein the drone includes a photographing device, and the multiple image transmission data packets are obtained by encoding the images collected by the photographing device by the drone;
    确定所述多个图传数据包中每一个图传数据包的接收确认信息；determining the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets;
    对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息；Combine the reception confirmation information of each image transmission data packet to generate feedback information;
    通过无线通信链路向所述无人机重复多次发送所述反馈信息，以使所述无人机根据接收到的所述反馈信息确定控制终端对所述每一个图传数据包的接收确认状态。The feedback information is repeatedly sent to the drone through the wireless communication link, so that the drone determines the reception confirmation of each image transmission data packet by the control terminal according to the received feedback information condition.
  20. 根据权利要求19所述的控制终端，其特征在于，所述处理器确定所述多个图传数据包中每一个图传数据包的接收确认信息时，具体用于：The control terminal according to claim 19, wherein when the processor determines the reception acknowledgment information of each image transmission data packet in the plurality of image transmission data packets, it is specifically used for:
    对所述多个图传数据包中的每一个图传数据包进行解码，并根据解码结果 确定所述每一个图传数据包的接收确认信息。Each image transmission data packet in the plurality of image transmission data packets is decoded, and the reception confirmation information of each image transmission data packet is determined according to the decoding result.
  21. 根据权利要求19所述的控制终端，其特征在于，The control terminal according to claim 19, wherein,
    所述反馈信息用于指示所述无人机根据所述多个图传数据包中每一个图传数据包的接收确认信息确定拍摄装置输出新图像的编码策略或者MCS值。The feedback information is used to instruct the drone to determine, according to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, an encoding strategy or an MCS value for outputting a new image by the photographing device.
  22. 根据权利要求19所述的控制终端，其特征在于，所述处理器还用于：The control terminal according to claim 19, wherein the processor is further configured to:
    获取反馈模式指示信息，其中，所述反馈模式指示信息是根据反馈模式评估参数确定的；acquiring feedback mode indication information, wherein the feedback mode indication information is determined according to a feedback mode evaluation parameter;
    所述对所述每一个图传数据包的接收确认信息进行合并，生成反馈信息，包括：The receiving confirmation information of each image transmission data packet is combined to generate feedback information, including:
    当所述反馈模式指示信息为第一反馈模式指示信息时，对所述每一个图传数据包的接收确认信息进行合并，生成所述反馈信息。When the feedback mode indication information is the first feedback mode indication information, the reception confirmation information of each image transmission data packet is combined to generate the feedback information.
  23. 根据权利要求22所述的控制终端，其特征在于，The control terminal according to claim 22, wherein,
    所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。The feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the UAV, the signal noise of the environment between the UAV and the control terminal One or more of a degree and a quantization parameter for the image output by the coded camera.
  24. 根据权利要求22所述的控制终端，其特征在于，所述处理器获取反馈模式指示信息时，具体用于：The control terminal according to claim 22, wherein when the processor acquires the feedback mode indication information, it is specifically used for:
    通过所述无线通信链路接收所述无人机发送的所述反馈模式指示信息。The feedback mode indication information sent by the UAV is received through the wireless communication link.
  25. 根据权利要求22所述的控制终端，其特征在于，所述处理器获取反馈模式指示信息时，具体用于：The control terminal according to claim 22, wherein when the processor acquires the feedback mode indication information, it is specifically used for:
    确定所述无线通信链路的误码率；determining a bit error rate of the wireless communication link;
    根据所述误码率生成所述反馈模式指示信息。The feedback mode indication information is generated according to the bit error rate.
  26. 根据权利要求25所述的控制终端，其特征在于，The control terminal according to claim 25, wherein,
    当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第 一反馈模式指示信息。When the bit error rate is greater than or equal to the first bit error rate threshold, the feedback mode indication information is first feedback mode indication information.
  27. 根据权利要求25所述的控制终端，其特征在于，The control terminal according to claim 25, wherein,
    当所述误码率小于第二误码率阈值时，所述反馈模式指示信息为第二反馈模式指示信息。When the bit error rate is less than the second bit error rate threshold, the feedback mode indication information is the second feedback mode indication information.
  28. 根据权利要求22所述的控制终端，其特征在于，所述处理器还用于：The control terminal according to claim 22, wherein the processor is further configured to:
    当所述反馈模式指示信息为第二反馈模式指示信息时，通过所述无线通信链路分别向所述无人机发送所述多个图传数据包中每一个图传数据包的接收确认信息。When the feedback mode indication information is the second feedback mode indication information, send the reception confirmation information of each image transmission data packet of the plurality of image transmission data packets to the UAV through the wireless communication link respectively .
  29. 一种无人机，其特征在于，所述无人机包括：An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises:
    机身；body;
    配置在机身上的动力***，用于为所述无人机提供移动的动力；a power system configured on the fuselage for providing the moving power for the UAV;
    拍摄装置，用于采集图像；a photographing device for collecting images;
    处理器，用于：processor for:
    对拍摄装置输出的图像进行编码，得到多个图传数据包；Encoding the image output by the photographing device to obtain a plurality of image transmission data packets;
    通过无线通信链路向控制终端发送所述多个图传数据包；Send the plurality of image transmission data packets to the control terminal through a wireless communication link;
    通过所述无线通信链路接收所述控制终端发送的反馈信息，其中，所述反馈信息是所述控制终端对所述多个图传数据包中每一个图传数据包的接收确认信息合并而生成的；The feedback information sent by the control terminal is received through the wireless communication link, wherein the feedback information is obtained by combining the reception acknowledgment information of the control terminal for each image transmission data packet in the plurality of image transmission data packets. Generated;
    根据所述接收到的反馈信息确定所述控制终端对所述每一个图传数据包的接收确认状态。According to the received feedback information, the receiving confirmation status of the control terminal for each image transmission data packet is determined.
  30. 根据权利要求29所述的无人机，其特征在于，所述处理器还用于：The drone of claim 29, wherein the processor is further configured to:
    根据所述多个图传数据包中每一个图传数据包的接收确认信息，确定对所述拍摄装置输出的新图像的编码策略或发送所述拍摄装置输出的新图像进行编码得到的多个图传数据包的MCS值。According to the reception confirmation information of each image transmission data packet in the plurality of image transmission data packets, determine the encoding strategy for the new image output by the shooting device or send a plurality of encoding strategies obtained by encoding the new image output by the shooting device The MCS value of the image transmission packet.
  31. 根据权利要求29所述的无人机，其特征在于，所述处理器还用于：The drone of claim 29, wherein the processor is further configured to:
    获取反馈模式评估参数，并根据所述反馈模式评估参数确定反馈模式指示信息；acquiring feedback mode evaluation parameters, and determining feedback mode indication information according to the feedback mode evaluation parameters;
    通过所述无线通信链路向所述控制终端发送所述反馈模式指示信息；sending the feedback mode indication information to the control terminal through the wireless communication link;
    其中，当所述反馈模式指示信息为第一反馈模式指示信息时，所述第一反馈模式指示信息用于指示所述控制终端将所述多个图传数据包的接收确认信息进行合并，生成所述反馈信息。Wherein, when the feedback mode indication information is the first feedback mode indication information, the first feedback mode indication information is used to instruct the control terminal to combine the reception confirmation information of the multiple image transmission data packets to generate the feedback information.
  32. 根据权利要求31所述的无人机，其特征在于，The unmanned aerial vehicle of claim 31, wherein:
    所述反馈模式评估参数包括所述无线通信链路的误码率、所述控制终端与所述无人机之间的距离、所述无人机和所述控制终端之间的环境的信号噪声程度和对已编码的拍摄装置输出的图像的量化参数中的一种或多种。The feedback mode evaluation parameters include the bit error rate of the wireless communication link, the distance between the control terminal and the UAV, the signal noise of the environment between the UAV and the control terminal One or more of a degree and a quantization parameter for the image output by the coded camera.
  33. 根据权利要求31所述的无人机，其特征在于，所述处理器根据所述反馈模式评估参数确定反馈模式指示信息时，具体用于：The unmanned aerial vehicle according to claim 31, wherein when the processor determines the feedback mode indication information according to the feedback mode evaluation parameter, it is specifically used for:
    确定所述无线通信链路的误码率；determining a bit error rate of the wireless communication link;
    根据所述误码率生成所述反馈模式指示信息。The feedback mode indication information is generated according to the bit error rate.
  34. 根据权利要求33所述的无人机，其特征在于，The drone of claim 33, wherein:
    当所述误码率大于或等于第一误码率阈值时，所述反馈模式指示信息为第一反馈模式指示信息。When the bit error rate is greater than or equal to the first bit error rate threshold, the feedback mode indication information is first feedback mode indication information.
  35. 根据权利要求33所述的无人机，其特征在于，The drone of claim 33, wherein:
    当所述误码率小于第二误码率阈值时，所述反馈模式指示信息为第二反馈模式指示信息。When the bit error rate is less than the second bit error rate threshold, the feedback mode indication information is the second feedback mode indication information.
  36. 根据权利要求31所述的无人机，其特征在于，当所述反馈指示信息为第二反馈模式指示信息时，所述第二反馈模式指示信息用于指示所述控制终端通过所述无线通信链路分别向所述无人机发送所述多个图传数据包的接收确认信息；The drone according to claim 31, wherein when the feedback indication information is the second feedback mode indication information, the second feedback mode indication information is used to instruct the control terminal to communicate through the wireless communication The link sends the reception confirmation information of the multiple image transmission data packets to the UAV respectively;
    所述处理器还用于：The processor is also used to:
    通过所述无线通信链路分别接收所述控制终端发送的所述多个图传数据包中每一个图传数据包的接收确认信息。The reception confirmation information of each image transmission data packet in the plurality of image transmission data packets sent by the control terminal is respectively received through the wireless communication link.
  37. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至18任一项所述方法。A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1 to 18 is implemented.
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