CN107483169A - Data transmission method, system and computer-readable recording medium - Google Patents
Data transmission method, system and computer-readable recording medium Download PDFInfo
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- CN107483169A CN107483169A CN201710527440.6A CN201710527440A CN107483169A CN 107483169 A CN107483169 A CN 107483169A CN 201710527440 A CN201710527440 A CN 201710527440A CN 107483169 A CN107483169 A CN 107483169A
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- receiving terminal
- data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/0008—Synchronisation information channels, e.g. clock distribution lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/713—Spread spectrum techniques using frequency hopping
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a kind of data transmission method, UAS and computer-readable recording medium, the UAS includes receiving terminal and transmitting terminal, is established and communicated to connect by the receiving terminal and transmitting terminal；After the receiving terminal and transmitting terminal establish communication connection, the receiving terminal carries out slot synchronization with the transmitting terminal；After the receiving terminal and the transmitting terminal complete slot synchronization, the transmitting terminal with receiving terminal automatic frequency-hopping to first frequency, wherein, the first frequency determines according to preset rules；The transmitting terminal transmits data under the first frequency to the receiving terminal.The UAS of the present invention is when carrying out data transmission, receiving terminal and transmitting terminal can be according to the frequencies in preset rules change data transmitting procedure, it is achieved thereby that each data transfer is carried out at different frequencies, the security in data transmission procedure has been ensured.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of data transmission method, UAS and computer
Readable storage medium storing program for executing.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Unmanned plane is because of its small volume, the advantages that flexibility is strong, be, civil area all play it is extremely important
Role.The performance of Unmanned Aerial Vehicle Data Link directly determines that unmanned plane performs the security and flight efficiency of task, is unmanned plane
Brain and glasses.
Unmanned Aerial Vehicle Data Link can be divided into up-link and downlink according to the difference of data transfer direction.Up-link master
Transmission of the ground surface end to the telecommand of unmanned plane is completed, realizes flight attitude control and command automation in real time；Descending chain
Mainly complete the transmission that unmanned plane investigates the information such as image to the telemetry of ground surface end, TV in road.
The data transfer of most unmanned plane and ground surface end in the market, unmanned plane is all based on ground surface end same
Carried out under one common frequency band.But this unmanned plane and ground surface end under same common frequency band by carrying out data transmission
Mode, easily occur in transmitting procedure and disturbed by other communication equipments, cause to transmit the problem of unstable；Also easily go out simultaneously
The problem of existing data are intercepted in transmitting procedure.
The content of the invention
It is a primary object of the present invention to provide a kind of data transmission method, it is desirable to provide one kind can change data be transmitted across
Transmission frequency in journey is to ensure the method for the security of Unmanned Aerial Vehicle Data transmission.
To achieve the above object, a kind of data transmission method provided by the invention, methods described are applied to UAS
Data transfer in, the UAS includes receiving terminal and transmitting terminal, may be contained within unmanned plane body and controller,
The data transmission method comprises the following steps：
The communication connection established between the receiving terminal and transmitting terminal；
The receiving terminal carries out slot synchronization with the transmitting terminal；
The transmitting terminal and receiving terminal priority frequency hopping frequency to first frequency are communicated, wherein, the first frequency according to
Preset rules determine；
The transmitting terminal transmits data under the first frequency to the receiving terminal.
Preferably, the transmitting terminal and receiving terminal priority frequency hopping be to first frequency, wherein, the first frequency is according to presetting
The step of rule determines includes：
The receiving terminal is according to hopping function frequency hopping to first frequency；
After being spaced the first preset time, the transmitting terminal is according to identical hopping function frequency hopping to first frequency；
Wherein described hopping function includes the id information of unmanned plane and controller.
Preferably, also wrapped after the step of transmitting terminal transmits data under the first frequency to the receiving terminal
Include：
The transmitting terminal switches to state the state for receiving data, and according to hopping function frequency hopping to second frequency；
After being spaced the second preset time, the receiving terminal switches to state the state of transmitting data, and according to frequency hopping letter
Frequency hopping is counted to second frequency.
Preferably, after the step of transmitting terminal is communicated with receiving terminal priority frequency hopping to first frequency, Yi Jisuo
State the step of transmitting terminal transmits data to the receiving terminal includes before：
The transmitting terminal sends synchronizing signal to the receiving terminal, confirms that the receiving terminal receives the synchronizing signal completely
Afterwards, it is to be in synchronization slot state to judge the receiving terminal.
Preferably, it is described after the receiving terminal and transmitting terminal establish communication connection, the receiving terminal and the transmitting terminal
The step of carrying out slot synchronization also includes：
The transmitting terminal sends detection signal to the transmitting terminal, confirms that the receiving terminal receives the detection signal completely
Afterwards, judge that the transmitting terminal has established communication connection with the receiving terminal.
Preferably, methods described also includes：
Whether exception occurs in detecting data transmitting procedure；
When occurring abnormal in data transmission procedure, the communication link between the receiving terminal and the transmitting terminal is re-established
Connect.
Preferably, abnormal step whether occurs in the detecting data transmitting procedure includes：
When the transmitting terminal is in the state for sending data, whether the receiving terminal is detected in the shape for receiving data
State；
If it is not, then exception occurs for data transfer.
Preferably, the receiving terminal of the UAS is established the step of connecting with transmitting terminal and included：
The receiving terminal and the transmitting terminal match each other id information, when the receiving terminal and the id information of the transmitting terminal
During matching, the receiving terminal is established with the transmitting terminal and connected.
In addition, to achieve the above object, the present invention also provides a kind of UAS, including be arranged at unmanned plane body and
Receiving terminal and transmitting terminal on controller, the UAS also include memory, processor and are stored in the memory
Data distributing program that is upper and can running on the processor, is realized when the data distributing program is by the computing device
The step of data transmission method as described in claim any one of 1-8.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
Data distributing program is stored with storage medium, the data distributing program realizes data as described above when being executed by processor
The step of transmission method.
The inventive method is applied in the data transfer of UAS, and the UAS includes receiving terminal and transmitting
End, established and communicated to connect by the receiving terminal and transmitting terminal；It is described after the receiving terminal and transmitting terminal establish communication connection
Receiving terminal carries out slot synchronization with the transmitting terminal；After the receiving terminal and the transmitting terminal complete slot synchronization, the hair
End is penetrated to be communicated with receiving terminal priority frequency hopping to first frequency, wherein, the first frequency determines according to preset rules；It is described
Transmitting terminal transmits data under the first frequency to the receiving terminal.The UAS of the present invention is carrying out data transmission
When, receiving terminal and transmitting terminal can be according to the frequencies in preset rules change data transmitting procedure, it is achieved thereby that each data
Transmission is carried out at different frequencies, has ensured the security in data transmission procedure.
Brief description of the drawings
Fig. 1 is the schematic diagram of UAS of the present invention；
Fig. 2 is another schematic diagram of UAS of the present invention；
Fig. 3 is the schematic flow sheet of data transmission method first embodiment of the present invention；
Fig. 4 is the schematic flow sheet of data transmission method second embodiment of the present invention；
Fig. 5 is the schematic flow sheet of data transmission method 3rd embodiment of the present invention；
Fig. 6 is the schematic flow sheet of data transmission method fourth embodiment of the present invention；
Fig. 7 is the schematic flow sheet of the embodiment of data transmission method the 5th of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In follow-up description, the suffix using such as " module ", " part " or " unit " for representing element is only
Be advantageous to the explanation of the present invention, itself there is no a specific meaning.Therefore, " module ", " part " or " unit " can mix
Ground uses.
The present invention provides a kind of data transmission method, and the data transmission method is applied to the data transfer of UAS
In, reference picture 1, the UAS 100 includes being arranged at unmanned plane body 10 and the receiving terminal on controller 20 and transmitting
End.It should be noted that the receiving terminal can be arranged on unmanned plane body 10 or be arranged on for controlling unmanned plane body
On 10 controller 20, the transmitting terminal can also be arranged on unmanned plane body 10 or be arranged on for controlling unmanned plane body
Controller 20 on.In order to realize the bidirectional data transfers of unmanned plane and controller, in the unmanned plane with being all provided with controller
It is equipped with receiving terminal and transmitting terminal.Wherein, the controller of the control unmanned plane includes remote control, mobile terminal etc..The present invention is implemented
In example, illustrated so that controller is remote control as an example.
In the first embodiment, reference picture 3, the data transmission method comprise the following steps：
Step S10, the communication connection established between the receiving terminal and transmitting terminal；
In the present embodiment, using receiving terminal as unmanned plane, transmitting terminal be remote control exemplified by illustrate.Specifically, unmanned plane
Establish and communicate to connect with remote control, can be led to by the UAV Communication module inside unmanned plane and the remote control inside remote control
Believe that module establishes communication connection.The UAV Communication module and remote control communication module can be WIFI communication modules or GPS
Communication module.The UAV Communication module receives the data that remote control communication module is sent, and is communicated with being established with the remote control
Connection.
Or in other embodiments, unmanned plane establishes communication link with remote control by matching respective id information
Connect.The id information of remote control and unmanned plane is consistent, when unmanned plane is consistent with the id information of remote control, establishes remote control
Communication connection between unmanned plane.
Certainly, in other embodiments, unmanned plane establishes communication connection with remote control can also take other modes,
This is not particularly limited.
Further, in other embodiments, when the transmitting terminal is terminal, the terminal can also be in the following manner
The radio communication connection established between pre- unmanned plane：By scanning the Quick Response Code on unmanned aerial vehicle body；Or input unmanned plane
ID codes etc..
After the unmanned plane and the remote control establish communication connection, the remote control sends a detection signal to described
Unmanned plane, after confirming that unmanned plane receives the detection signal completely, it is judged as that the unmanned plane has been set up communicating with remote control
Connection, then can continue the operation of next step.
Step S20, after the receiving terminal and transmitting terminal establish communication connection, the receiving terminal is carried out with the transmitting terminal
Slot synchronization；
In order that the data transfer between unmanned plane and remote control is stable, need to ensure unmanned plane and remote control in transmitting procedure
The slot synchronization of device.Therefore, after the paired remote control of unmanned plane establishes communication connection, when performing unmanned plane with remote control
The synchronous step of gap.Specifically, unmanned plane and remote control be after establishing and communicating to connect, unmanned plane sending time slots synchronizing information is to distant
Device is controlled, remote control corrects the time slot of remote control itself after the synchronizing information is received, to carry out slot synchronization with unmanned plane.
But in order to determine unmanned plane and the stability of remote control communication connection, performed in the unmanned plane and remote control
Whether before slot synchronization, unmanned plane can send a detection signal in advance to remote control, with sensing remote controller and unmanned plane
It is set up communicating to connect.
Step S30, after the receiving terminal and the transmitting terminal complete slot synchronization, the transmitting terminal and receiving terminal frequency hopping
Communicated to first frequency, wherein, the first frequency determines according to preset rules；
Further carry out data transmission on the basis of slot synchronization, and in order to ensure the peace in data transmission procedure
Quan Xing, in the present embodiment, completed at different frequencies in each data transfer.By making unmanned plane and remote control each
Data transfer is carried out at different frequencies, so that other communication equipments are difficult to trace into the frequency in Unmanned Aerial Vehicle Data transmitting procedure
Rate, and then the transmission data can not be obtained, and then the data that can not also destroy in the transmission, ensure in data transmission procedure
Security.
Specifically, after unmanned plane and remote control complete slot synchronization, the unmanned plane is with remote control according to default rule
Then frequency hopping to first frequency, first frequency randomly generates according to preset rules.
Step S40, the transmitting terminal transmit data under the first frequency to the receiving terminal.
After the unmanned plane jumps to first frequency with remote control, remote control starts under the frequency to nothing as transmitting terminal
Man-machine transmission data, only when unmanned plane is similarly under the frequency, unmanned plane can just receive the data, otherwise will return
Data send abnormal message, so that remote control comes back to the starting point for most beginning setting up and being connected with unmanned plane, re-establish logical
Letter connection.
It should be noted that before the unmanned plane and the remote control start to transmit data, and in the remote control
After device frequency hopping to first frequency, the remote control will send a synchronizing signal to unmanned plane, be to detect the unmanned plane
It is no to be in synchronization slot with remote control.Only when remote control is in identical time slot with unmanned plane, remote control just starts to nobody
Machine transmits data.Prevent that data transfer occurs wrong and unstable when unmanned plane and remote control are in different time-gap with this
Situation.
The present embodiment is established by the receiving terminal and transmitting terminal and communicated to connect；Established in the receiving terminal and transmitting terminal logical
After letter connection, the receiving terminal carries out slot synchronization with the transmitting terminal；Time slot is completed in the receiving terminal and the transmitting terminal
After synchronization, the transmitting terminal and receiving terminal automatic frequency-hopping to first frequency, wherein, the first frequency is true according to preset rules
It is fixed；The receiving terminal carries out data transmission with the transmitting terminal under the first frequency.The UAS of the present invention is entering
During row data transfer, receiving terminal and transmitting terminal can according to the frequency in preset rules change data transmitting procedure, it is achieved thereby that
Each data transfer is carried out at different frequencies, has ensured the security in data transmission procedure.
Further, reference picture 4, in a second embodiment, the step S40 include：
Step S41, the receiving terminal is according to hopping function frequency hopping to first frequency；
Step S42, after being spaced the first preset time, the transmitting terminal is according to identical hopping function frequency hopping to the first frequency
Rate；Wherein, the FM Function includes the id information of unmanned plane and controller.
In order to ensure that unmanned plane is ready for receiving the preparation of data, this reality when remote control sends data to unmanned plane
Apply example control unmanned plane and carry out frequency hopping prior to remote control.Unmanned plane jumps to first frequency according to default hopping function.The jump
Frequency function can be the function related to the id information of unmanned plane and remote control, wherein the id information one of unmanned plane and remote control
Cause.After when being spaced the first preset time, unmanned plane further according to hopping function frequency hopping to first function, so that it is guaranteed that remote control to
When unmanned plane sends data, unmanned plane has jumped to identical first frequency, carries out the preparation for receiving data.
First frequency is skipped to according to hopping function by the receiving terminal in the present embodiment；After being spaced the first preset time,
The transmitting terminal is according to identical hopping function frequency hopping to first frequency.By making receiving terminal jump to the time elder generation of first frequency
The time of first frequency is jumped to transmitting terminal, it is ensured that when sending data to unmanned plane, receiving terminal has redirected transmitting terminal
To identical first frequency, it is ready to receive the preparation of data, and then improve the real-time of data transfer.
Further, reference picture 5, in the third embodiment, also include after the step S40：
Step S50, the transmitting terminal switch to state the state for receiving data, and according to hopping function frequency hopping to second
Frequency；
Step S60, after being spaced the second preset time, the receiving terminal switches to state the state of transmitting data, and root
According to identical hopping function frequency hopping to second frequency；
And the repeat step S40 after frequency hopping to second frequency, i.e., number of the unmanned plane to remote control is carried out under second frequency
According to transmitting procedure.
After the step of unmanned plane and the remote control complete data transfer at the first frequency, as transmitting terminal
Remote control the state of itself is then switched to the state for receiving data, i.e. the remote control as transmitting terminal switches to receiving terminal.
And the remote control as receiving terminal is immediately according to hopping function frequency hopping to second frequency.
And the unmanned plane as receiving terminal switches to the state of itself states of transmitting data, namely as receiving terminal
Unmanned plane will switch to transmitting terminal.And after being spaced the second preset time, the unmanned plane as transmitting terminal is immediately according to frequency hopping letter
Frequency hopping is counted to second frequency.Second preset time is also for ensureing in the unmanned plane as transmitting terminal to as receiving terminal
Remote control send data when, remote control has jumped to second frequency, and carry out receive data preparation.
The present embodiment switches to state by the transmitting terminal state for receiving data, and according to hopping function frequency hopping extremely
Second frequency；After being spaced the second preset time, the receiving terminal switches to state the state of transmitting data, and according to frequency hopping letter
Frequency hopping is counted to second frequency.The transmitted in both directions of data is realized, and improves the accuracy of data transfer.
Further, reference picture 6, in the fourth embodiment, methods described also include：
Step S70, whether exception occurs in detecting data transmitting procedure；
Step S80, when occurring abnormal in data transmission procedure, re-establish between the receiving terminal and the transmitting terminal
Connection.
Because in transmitting procedure due to many reasons transmission abnormality may will occur for data, for example, when transmitting terminal is to connecing
Receiving end send data when, receiving terminal may not jump to transmitting terminal identical predeterminated frequency, cause receiving terminal not connect normally
Receive the data that transmitting terminal sends over；Or the communication connection of receiving terminal and transmitting terminal disconnects in data transmission procedure, leads
Cause data-transmission interruptions etc..Occur it is above-mentioned these it is abnormal when, receiving terminal and transmitting terminal will be returned to starting point, that is, be launched
End will re-establish communication connection with receiving terminal, perform slot synchronization after communication connection is established again and jump to default frequency
The step of rate.
Whether the present embodiment in detecting data transmitting procedure by occurring exception；Occur in data transmission procedure abnormal
When, re-establish the connection between the receiving terminal and the transmitting terminal.By detecting between receiving terminal and transmitting terminal
When data transfer occurs abnormal, receiving terminal is re-established communication connection with transmitting terminal, improve UAS to abnormal machine
Make the reaction speed of processing.
Further, referring to Fig. 7, in the 5th embodiment, above-mentioned steps S70 includes：
Step S71, when state of the transmitting terminal in transmission data, whether the receiving terminal is detected in reception data
State；
Step S72, if it is not, then exception occurs for data transfer.
When the transmitting terminal is in the state for sending data, if the receiving terminal is not in receiving the state of data,
Then receiving terminal will be unable to normally receive the data of transmitting terminal transmission, then can determine whether that now data transfer occurs abnormal.As
When switching to receiving terminal for the remote control of transmitting terminal, the time that it switches may be caused relative to work due to temporal hysteresis
Evening time of transmitting terminal is switched to for the unmanned plane of receiving terminal, so when the unmanned plane as transmitting terminal is being sent to data
When, this does not switch to the state for receiving data as the remote control of receiving terminal, does not jump to and the default frequency of unmanned plane identical yet
Rate, and then it is abnormal to cause data transfer to occur.Now, unmanned plane will return starting point with remote control, re-establish communication connection.
By detecting when the transmitting terminal is in the state for sending data in the present embodiment, whether the receiving terminal is in
The state of data is received, to judge whether data transfer occurs exception.
Referring again to Fig. 1 and Fig. 2, the present invention further provides a kind of UAS 100, the UAS
100 are respectively arranged at unmanned plane body 10 and receiving terminal and transmitting terminal on controller 20, and the UAS includes：Storage
Device 30, processor 40 and it is stored in the data distributing program that can be run on the memory 30 and on the processor 40.Need
It is noted that the receiving terminal is same with the transmitting terminal including memory 30, processor 40 and to be stored in the memory
On 30 and the data distributing program that can be run on the processor 40, and receiving terminal and the data distributing program on transmitting terminal
For running method and step corresponding with receiving terminal and transmitting terminal difference in above-described embodiment.
In the UAS, the data distributing program realizes following method step when being performed by the processor 40
Suddenly：
The communication connection established between the receiving terminal and transmitting terminal；
After the receiving terminal and transmitting terminal establish communication connection, the receiving terminal and transmitting terminal progress time slot are same
Step；
After the receiving terminal and the transmitting terminal complete slot synchronization, the transmitting terminal and receiving terminal frequency hopping to the first frequency
Rate is communicated, wherein, the first frequency determines according to preset rules, and the preset rules include unmanned plane and controller
Id information；
The transmitting terminal transmits data under the first frequency to the receiving terminal.
In the present embodiment, using receiving terminal as unmanned plane, transmitting terminal be remote control exemplified by illustrate.Specifically, unmanned plane
Establish and communicate to connect with remote control, can be led to by the UAV Communication module inside unmanned plane and the remote control inside remote control
Believe that module establishes communication connection.The UAV Communication module and remote control communication module can be WIFI communication modules or GPS
Communication module.The UAV Communication module receives the data that remote control communication module is sent, and is communicated with being established with the remote control
Connection.
Or in other embodiments, unmanned plane establishes communication link with remote control by matching respective id information
Connect.The id information of remote control and unmanned plane is consistent, when unmanned plane is consistent with the id information of remote control, establishes remote control
Communication connection between unmanned plane.
Certainly, in other embodiments, unmanned plane establishes communication connection with remote control can also take other modes,
This is not particularly limited.
Further, in other embodiments, when the transmitting terminal is terminal, the terminal can also be in the following manner
The radio communication connection established between pre- unmanned plane：By scanning the Quick Response Code on unmanned aerial vehicle body；Or input unmanned plane
ID codes etc..
After the unmanned plane and the remote control establish communication connection, the remote control sends a detection signal to described
Unmanned plane, after confirming that unmanned plane receives the detection signal completely, it is judged as that the unmanned plane has been set up communicating with remote control
Connection, then can continue the operation of next step.
In order that the data transfer between unmanned plane and remote control is stable, need to ensure unmanned plane and remote control in transmitting procedure
The slot synchronization of device.Therefore, after unmanned plane establishes communication connection with paired remote control, unmanned plane and remote control are performed
The step of slot synchronization.Specifically, unmanned plane and remote control, after communication connection is established, unmanned plane sending time slots synchronizing information is extremely
Remote control, remote control correct the time slot of remote control itself after the synchronizing information is received, same to carry out time slot with unmanned plane
Step.
But in order to determine unmanned plane and the stability of remote control communication connection, performed in the unmanned plane and remote control
Before slot synchronization, whether unmanned plane sends a detection signal to remote control in advance, built with sensing remote controller and unmanned plane
Vertical communication connection.
Further carry out data transmission on the basis of slot synchronization, and in order to ensure the peace in data transmission procedure
Quan Xing, in the present embodiment, completed at different frequencies in each data transfer.By making unmanned plane and remote control each
Data transfer is carried out at different frequencies, so that other communication equipments are difficult to trace into the frequency in Unmanned Aerial Vehicle Data transmitting procedure
Rate, and then the transmission data can not be obtained, and then the data that can not also destroy in the transmission, ensure in data transmission procedure
Security.
Specifically, after unmanned plane and remote control complete slot synchronization, the unmanned plane is with remote control according to default rule
Then frequency hopping to first frequency, first frequency randomly generates according to preset rules.
After the unmanned plane jumps to first frequency with remote control, remote control starts under the frequency to nothing as transmitting terminal
Man-machine transmission data, only when unmanned plane is similarly under the frequency, unmanned plane can just receive the data, otherwise will return
Data send abnormal message, so that remote control comes back to the starting point for most beginning setting up and being connected with unmanned plane, re-establish logical
Letter connection.
It should be noted that before the unmanned plane and the remote control start to transmit data, and in the remote control
After device frequency hopping to first frequency, the remote control will send a synchronizing signal to unmanned plane, be to detect the unmanned plane
It is no to be in synchronization slot with remote control.Only when remote control is in identical time slot with unmanned plane, remote control just starts to nobody
Machine transmits data.Prevent that data transfer occurs wrong and unstable when unmanned plane and remote control are in different time-gap with this
Situation.
The present embodiment is established by the receiving terminal and transmitting terminal and communicated to connect；Established in the receiving terminal and transmitting terminal logical
After letter connection, the receiving terminal carries out slot synchronization with the transmitting terminal；Time slot is completed in the receiving terminal and the transmitting terminal
After synchronization, the transmitting terminal and receiving terminal automatic frequency-hopping to first frequency, wherein, the first frequency is true according to preset rules
It is fixed；The receiving terminal carries out data transmission with the transmitting terminal under the first frequency.The UAS of the present invention is entering
During row data transfer, receiving terminal and transmitting terminal can according to the frequency in preset rules change data transmitting procedure, it is achieved thereby that
Each data transfer is carried out at different frequencies, has ensured the security in data transmission procedure.
In one embodiment, the data distributing program by the computing device when realize following method and step：
The receiving terminal is according to hopping function frequency hopping to first frequency；
After being spaced the first preset time, the transmitting terminal is according to identical hopping function frequency hopping to first frequency.
In order to ensure that unmanned plane is ready for receiving the preparation of data, this reality when remote control sends data to unmanned plane
Apply example control unmanned plane and carry out frequency hopping prior to remote control.Unmanned plane jumps to first frequency according to default hopping function.The jump
Frequency function can be the function related to the id information of unmanned plane and remote control, wherein the id information one of unmanned plane and remote control
Cause.After when being spaced the first preset time, unmanned plane is further according to hopping function frequency hopping to the first preset function, so that it is guaranteed that remote control
When sending data to unmanned plane, unmanned plane has jumped to identical first frequency, carries out the preparation for receiving data.
First frequency is skipped to according to hopping function by the receiving terminal in the present embodiment；After being spaced the first preset time,
The transmitting terminal is according to identical hopping function frequency hopping to first frequency.By making receiving terminal jump to the time elder generation of first frequency
The time of first frequency is jumped to transmitting terminal, it is ensured that when sending data to unmanned plane, receiving terminal has redirected transmitting terminal
To identical first frequency, it is ready to receive the preparation of data, and then improve the real-time of data transfer.
Further, in one embodiment, such as lower section is realized when the data distributing program is performed by the processor 20
Method step：
The transmitting terminal switches to state the state for receiving data, and according to hopping function frequency hopping to second frequency；
After being spaced the second preset time, the receiving terminal switches to state the state of transmitting data, and according to frequency hopping letter
Frequency hopping is counted to second frequency.
After the step of unmanned plane and the remote control complete data transfer at the first frequency, as transmitting terminal
Remote control the state of itself is then switched to the state for receiving data, i.e. the remote control as transmitting terminal switches to receiving terminal.
And the remote control as receiving terminal is immediately according to hopping function frequency hopping to second frequency.
And the unmanned plane as receiving terminal switches to the state of itself states of transmitting data, namely as receiving terminal
Unmanned plane will switch to transmitting terminal.And after being spaced the second preset time, the unmanned plane as transmitting terminal is immediately according to frequency hopping letter
Frequency hopping is counted to second frequency.Second preset time is also for ensureing in the unmanned plane as transmitting terminal to as receiving terminal
Remote control send data when, remote control has jumped to second frequency, and carry out receive data preparation.
The present embodiment switches to state by the transmitting terminal state for receiving data, and according to hopping function frequency hopping extremely
Second frequency；After being spaced the second preset time, the receiving terminal switches to state the state of transmitting data, and according to frequency hopping letter
Frequency hopping is counted to second frequency.The transmitted in both directions of data is realized, and improves the accuracy of data transfer.
Further, in one embodiment, such as lower section is realized when the data distributing program is performed by the processor 20
Method step：
Whether exception occurs in detecting data transmitting procedure；
When occurring abnormal in data transmission procedure, the connection between the receiving terminal and the transmitting terminal is re-established.
Because in transmitting procedure due to many reasons transmission abnormality may will occur for data, for example, when transmitting terminal is to connecing
Receiving end send data when, receiving terminal may not jump to transmitting terminal identical predeterminated frequency, cause receiving terminal not connect normally
Receive the data that transmitting terminal sends over；Or the communication connection of receiving terminal and transmitting terminal disconnects in data transmission procedure, leads
Cause data-transmission interruptions etc..Occur it is above-mentioned these it is abnormal when, receiving terminal and transmitting terminal will be returned to starting point, that is, be launched
End will re-establish communication connection with receiving terminal, perform slot synchronization after communication connection is established again and jump to default frequency
The step of rate.
Whether the present embodiment in detecting data transmitting procedure by occurring exception；Occur in data transmission procedure abnormal
When, re-establish the connection between the receiving terminal and the transmitting terminal.By detecting between receiving terminal and transmitting terminal
When data transfer occurs abnormal, receiving terminal is re-established communication connection with transmitting terminal, improve UAS to abnormal machine
Make the reaction speed of processing.
Further, in other embodiments, realized when the data distributing program is performed by the processor 20 as follows
Method and step：
When state of the transmitting terminal in transmission data, whether the receiving terminal is detected in the state for receiving data；
If it is not, then exception occurs for the data transfer.
When the transmitting terminal is in the state for sending data, if the receiving terminal is not in receiving the state of data,
Then receiving terminal will be unable to normally receive the data of transmitting terminal transmission, then can determine whether that now data transfer occurs abnormal.As
When switching to receiving terminal for the remote control of transmitting terminal, the time that it switches may be caused relative to work due to temporal hysteresis
Evening time of transmitting terminal is switched to for the unmanned plane of receiving terminal, so when the unmanned plane as transmitting terminal is being sent to data
When, this does not switch to the state for receiving data as the remote control of receiving terminal, does not jump to and the default frequency of unmanned plane identical yet
Rate, and then it is abnormal to cause data transfer to occur.Now, unmanned plane will return starting point with remote control, re-establish communication connection.
By detecting when the transmitting terminal is in the state for sending data in the present embodiment, whether the receiving terminal is in
The state of data is received, to judge whether data transfer occurs exception.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium
On be stored with data distributing program, the data distributing program realizes the number described in any of the above-described embodiment when being executed by processor
The step of according to transmission method, concrete implementation following steps：
The communication connection established between the receiving terminal and transmitting terminal；
After the receiving terminal and transmitting terminal establish communication connection, the receiving terminal and transmitting terminal progress time slot are same
Step；
After the receiving terminal and the transmitting terminal complete slot synchronization, the transmitting terminal and receiving terminal frequency hopping to the first frequency
Rate is communicated, wherein, the first frequency determines according to preset rules, and the preset rules include unmanned plane and controller
Id information；
The transmitting terminal transmits data under the first frequency to the receiving terminal.
Further, following operation is realized when the data distributing program is executed by processor：
The receiving terminal is according to hopping function frequency hopping to first frequency；
After being spaced the first preset time, the transmitting terminal is according to identical hopping function frequency hopping to first frequency.
Further, following operation is realized when the data distributing program is executed by processor：
The transmitting terminal switches to state the state for receiving data, and according to hopping function frequency hopping to second frequency；
After being spaced the second preset time, the receiving terminal switches to state the state of transmitting data, and according to frequency hopping letter
Frequency hopping is counted to second frequency.
Further, following operation is realized when the data distributing program is executed by processor：
Whether exception occurs in detecting data transmitting procedure；
When occurring abnormal in data transmission procedure, the connection between the receiving terminal and the transmitting terminal is re-established.
Further, following operation is realized when the data distributing program is executed by processor：
When state of the transmitting terminal in transmission data, whether the receiving terminal is detected in the state for receiving data；
If it is not, then exception occurs for the data transfer.
In the description of this specification, reference term " embodiment ", " another embodiment ", " other embodiment " or "
The description of one embodiment~X embodiment " etc. mean to combine the specific features that the embodiment or example describe, structure, material or
Person's feature is contained at least one embodiment or example of the present invention.In this manual, to the schematic table of above-mentioned term
State and be not necessarily referring to identical embodiment or example.Moreover, specific features, structure, material, method and step or the spy of description
Point can combine in an appropriate manner in any one or more embodiments or example.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those key elements, and
And also include the other element being not expressly set out, or also include for this process, method, article or device institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Other identical element also be present in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in one or more storages
In medium (such as ROM/RAM, magnetic disc, CD), including some instructions to cause one or more terminal (can be mobile phone, meter
Calculation machine, server, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of data transmission method, it is characterised in that methods described is applied in the data transfer of UAS, the nothing
Man-machine system includes receiving terminal and transmitting terminal, may be contained within unmanned plane body and controller, the data transmission method bag
Include following steps：
The communication connection established between the receiving terminal and transmitting terminal；
After the receiving terminal and the transmitting terminal establish communication connection, the receiving terminal and transmitting terminal progress time slot are same
Step；
After the receiving terminal and the transmitting terminal complete slot synchronization, the transmitting terminal and receiving terminal priority frequency hopping to the first frequency
Rate is communicated, wherein, the first frequency determines according to preset rules；
The transmitting terminal transmits data under the first frequency to the receiving terminal.
2. data transmission method according to claim 1, it is characterised in that the transmitting terminal and receiving terminal priority frequency hopping are extremely
First frequency, wherein, the step of first frequency determines according to preset rules, includes：
The receiving terminal is according to hopping function frequency hopping to first frequency；
After being spaced the first preset time, the transmitting terminal is according to identical hopping function frequency hopping to first frequency；
Wherein described hopping function includes the id information of unmanned plane and controller.
3. data transmission method according to claim 2, it is characterised in that the transmitting terminal under the first frequency to
Also include after the step of receiving terminal transmission data：
The transmitting terminal switches to state the state for receiving data, and according to hopping function frequency hopping to second frequency；
After being spaced the second preset time, the receiving terminal switches to state the state of transmitting data, and according to identical frequency hopping
Function frequency hopping is to second frequency.
4. data transmission method according to claim 1, it is characterised in that the transmitting terminal and receiving terminal priority frequency hopping are extremely
After the step of first frequency is communicated, and the transmitting terminal to the receiving terminal transmit data the step of before include：
The transmitting terminal sends synchronizing signal to the receiving terminal, after confirming that the receiving terminal receives the synchronizing signal completely, sentences
The receiving terminal that breaks is to be in synchronization slot state.
5. data transmission method according to claim 1, it is characterised in that described to be established in the receiving terminal and transmitting terminal
After communication connection, the receiving terminal also includes with the step of transmitting terminal progress slot synchronization：
The transmitting terminal sends detection signal to the transmitting terminal, after confirming that the receiving terminal receives the detection signal completely, sentences
The transmitting terminal that breaks has established communication connection with the receiving terminal.
6. according to the data transmission method described in any one of Claims 1 to 5, it is characterised in that methods described also includes：
Whether exception occurs in detecting data transmitting procedure；
When occurring abnormal in data transmission procedure, the communication connection between the receiving terminal and the transmitting terminal is re-established.
7. data transmission method according to claim 6, it is characterised in that whether sent out in the detecting data transmitting procedure
Raw abnormal step includes：
When the transmitting terminal is in the state for sending data, whether the receiving terminal is detected in the state for receiving data；
If it is not, then exception occurs for data transfer.
8. according to the data transmission method described in any one of Claims 1 to 5, it is characterised in that the UAS connects
Receiving end establishes the step of communicating to connect with transmitting terminal to be included：
The receiving terminal and the transmitting terminal match each other id information, when the receiving terminal matches with the id information of the transmitting terminal
When, the receiving terminal is established with the transmitting terminal and communicated to connect.
9. a kind of UAS, including the receiving terminal and transmitting terminal being arranged on unmanned plane body and controller, its feature exist
In the UAS also includes memory, processor and is stored on the memory and can transport on the processor
Capable data distributing program, the data distributing program are realized such as any one of claim 1-8 institutes during the computing device
The step of data transmission method stated.
10. a kind of computer-readable recording medium, it is characterised in that data biography is stored with the computer-readable recording medium
Defeated program, the transmission side data as described in claim any one of 1-8 is realized when the data distributing program is executed by processor
The step of method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710527440.6A CN107483169A (en) | 2017-06-30 | 2017-06-30 | Data transmission method, system and computer-readable recording medium |
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| CN201710527440.6A CN107483169A (en) | 2017-06-30 | 2017-06-30 | Data transmission method, system and computer-readable recording medium |
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| CN107483169A true CN107483169A (en) | 2017-12-15 |
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| CN201710527440.6A Pending CN107483169A (en) | 2017-06-30 | 2017-06-30 | Data transmission method, system and computer-readable recording medium |
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