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WO2021035639A1 - Method for processing remote control signal, remote control device and remote control system - Google Patents

Method for processing remote control signal, remote control device and remote control system Download PDF

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Publication number
WO2021035639A1
WO2021035639A1 PCT/CN2019/103419 CN2019103419W WO2021035639A1 WO 2021035639 A1 WO2021035639 A1 WO 2021035639A1 CN 2019103419 W CN2019103419 W CN 2019103419W WO 2021035639 A1 WO2021035639 A1 WO 2021035639A1
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WO
WIPO (PCT)
Prior art keywords
remote control
control signal
signal
movable platform
perform
Prior art date
Application number
PCT/CN2019/103419
Other languages
French (fr)
Chinese (zh)
Inventor
陈颖
马宁
赵亮
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980030385.7A priority Critical patent/CN112106122B/en
Priority to PCT/CN2019/103419 priority patent/WO2021035639A1/en
Publication of WO2021035639A1 publication Critical patent/WO2021035639A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C15/00—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path
    • G08C15/02—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path simultaneously, i.e. using frequency division
    • G08C15/04—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path simultaneously, i.e. using frequency division the signals being modulated on carrier frequencies
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
    • H04L1/0056—Systems characterized by the type of code used
    • H04L1/0061—Error detection codes

Definitions

  • the present invention relates to the field of communication technology, in particular to a remote control signal processing method, remote control equipment and remote control system.
  • the movable platform (such as aerial camera, remote control car, remote control boat, etc.), it can be controlled by remote control equipment, so that the movable platform can move according to the needs of users and realize specific functions during the movement.
  • the remote control device corresponding to the movable platform can transmit remote control signals to the movable platform through an analog remote control link or a digital remote control link.
  • the analog remote control link has weak anti-interference ability and cannot realize long-distance transmission, but there is no delay and jitter.
  • the digital remote control link has the advantages of high accuracy, long transmission distance, and strong anti-interference ability, but the delay jitter is large, and packet loss occurs in a low signal-to-noise ratio environment. Based on this, how to balance the accuracy and robustness of the remote control signal is a technical problem that needs to be solved urgently.
  • the embodiment of the present invention provides a remote control signal processing method, remote control equipment, and remote control system, which can obtain a first remote control signal through channel coding on the basis of a digital system, and obtain a second remote control signal through signal modulation. , So that the first remote control signal has higher accuracy, and the second remote control signal has higher robustness, so as to take into account the accuracy and robustness of the remote control signal.
  • an embodiment of the present invention provides a remote control signal processing method, including:
  • the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  • an embodiment of the present invention provides a remote control signal processing method, including:
  • the third remote control signal and the fourth remote control signal are associated and stored.
  • an embodiment of the present invention provides a remote control device, including a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  • an embodiment of the present invention provides a movable platform including a memory and a processor
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the third remote control signal and the fourth remote control signal are associated and stored.
  • an embodiment of the present invention provides a remote control system, including a remote control device and a movable platform;
  • the remote control device is used to collect remote control signals based on a remote control signal load, and the remote control signal load includes one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the remote control device is also used to perform channel encoding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal.
  • the first remote control signal includes a check code. 2.
  • the remote control signal does not include the check code;
  • the remote control device is also used to send the first remote control signal and the second remote control signal to a mobile platform through a digital system;
  • the movable platform is used to perform channel decoding on the first remote control signal to obtain a third remote control signal, perform signal demodulation on the second remote control signal to obtain a fourth remote control signal, and combine the third remote control signal And store in association with the fourth remote control signal.
  • Embodiments of the present invention provide a remote control signal processing method, remote control equipment, and remote control system.
  • the remote control signal processing method includes collecting remote control signals based on a remote control signal load.
  • the remote control signal load includes the number of remote control channels, the frequency of the lever, and the lever.
  • the second remote control signal does not include the check code, and the first remote control signal and the second remote control signal are sent to the movable platform through a digital system.
  • the first remote control signal can be acquired through channel coding, and the second remote control signal can be acquired through signal modulation, so that the first remote control signal has higher accuracy and the second remote control signal is more accurate.
  • the signal has high robustness, in order to take into account the accuracy and robustness of the remote control signal.
  • Figure 1 is a schematic structural diagram of a remote control system provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a remote control signal processing method provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a method for a remote control device to perform channel coding on a remote control signal according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of a method for a remote control device to modulate a remote control signal according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the architecture of a remote control system provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the application of a remote control signal processing method provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a remote control device provided by an embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • the remote control device corresponding to the movable platform can transmit remote control signals to the movable platform through an analog remote control link or a digital remote control link.
  • the analog remote control link has weak anti-interference ability and cannot realize long-distance transmission, but there is no delay and jitter.
  • the digital remote control link has the advantages of high accuracy, long transmission distance, and strong anti-interference ability, but the delay jitter is large, and packet loss occurs in a low signal-to-noise ratio environment.
  • the embodiment of the present invention proposes a remote control signal processing method, which can obtain the first remote control signal through channel coding based on the digital system, and modulate the signal.
  • the second remote control signal is acquired in a way, so that the first remote control signal has higher accuracy, and the second remote control signal has higher robustness, so as to take into account the accuracy and robustness of the remote control signal.
  • the remote control system includes a remote control device and an electronic device.
  • a remote control device is a device with a remote control function (such as a remote control, a mobile phone, a tablet computer, a ground control station, etc.), which is used to control the movement of the electronic device and perform related functional operations by sending a remote control signal to the electronic device.
  • the remote control device can control the moving direction of the electronic device (such as moving to the left or right), and can also control the moving speed of the electronic device (such as moving at 20 km/h).
  • the remote control device can control the electronic device to perform image shooting.
  • the movable platform is a device controlled by the remote control device, and is used to move or perform related functional operations according to the remote control signal of the remote control device. For example, the movable platform determines to move forward or backward according to the received remote control signal of the remote control device. For another example, when the remote control signal of the remote control device includes the execution of fixed-point hovering, the movable platform stops moving at the designated fixed point according to the received remote control signal of the remote control device.
  • the movable platform can be an unmanned aerial vehicle, an unmanned vehicle, or a mobile robot. It is understandable that the remote control device and the remotely controlled movable platform can have a one-to-one correspondence, or one remote control device corresponds to multiple remotely controlled movable platforms. By switching control on the remote control device to achieve multiple Remote control of movable platform.
  • the remote control system shown in FIG. 1 is only an example, and the remote control system may also include multiple remote control devices and multiple movable platforms, which is not limited in this embodiment.
  • a digital system is adopted between the remote control device and the movable platform, such as an orthogonal frequency division multiplexing (OFDM) system.
  • the digital system may include a digital remote control link.
  • a digital remote control link includes the following parts: remote control, acquisition, digital-analog/analog-to-digital conversion, encoding, sending, receiving, decoding and output.
  • the remote control signal load of the remote control signal transmitted in the digital remote control link usually includes one or more of the number of remote control channels, the position width of the rod, or the frequency of the rod.
  • the number of remote control channels corresponds to the multiple remote control functions that the remote control device can achieve, including remote sticks, levers, switches, and buttons for different purposes.
  • the rod amount width represents the number of bits corresponding to the amount of control rod transmitted by the remote control device. When the rod amount width is higher (the number of bits is more), the remote control device can achieve a more minute and precise operation. When the rod amount width is lower ( When the number of bits is less), the operation of the remote control device is rougher, and the remote control may not be in place.
  • the lever frequency represents the sending frequency of the remote control lever.
  • the lever frequency of the remote control device is between 50Hz-200Hz, and the remote control device has better controllability.
  • the embodiment of the present invention provides a remote control signal processing method. Please refer to FIG. 2.
  • the method can be applied to the remote control system shown in FIG. 1, and specifically includes the following steps:
  • the remote control device collects a remote control signal based on the remote control signal load.
  • the remote control device may collect remote control signals based on the remote control signal load, where the remote control signal load may include one or more of the number of remote control channels, the frequency of the lever, and the width of the lever.
  • the remote control device can collect the remote control signals generated when the user operates some or all of the 3 joysticks and 5 control buttons in the remote control device .
  • the lever frequency is 50 Hz
  • the remote control device can collect a remote control signal every 0.02 second (s).
  • the remote control device can generate a remote control signal with a bit number of 128 bits.
  • the remote control device performs channel coding on the remote control signal to obtain a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal.
  • the remote control device may perform digital signal processing on the remote control signal in the digital system, for example, perform channel coding on the remote control signal to obtain the first remote control signal, and the first remote control signal includes a check code.
  • the first remote control signal can be verified by the check code. If the verification is successful, the mobile platform determines that the first remote control signal is successfully received; if the verification fails, it can The mobile platform determines that the first remote control signal is not successfully received, that is, the mobile platform cannot process the first remote control signal. It can be seen that the accuracy of the first remote control signal is relatively high.
  • the remote control device can also perform analog signal processing on the remote control signal in the digital system, for example, perform signal modulation on the remote control signal to obtain the second remote control signal. Since the second remote control signal does not include the check code, after the mobile platform receives the second remote control signal, it will not check the second remote control signal, but directly store the second remote control signal, and the transmission delay is small, that is, The robustness of the second remote control signal is relatively high.
  • the remote control device sends the first remote control signal and the second remote control signal to the movable platform through the digital system.
  • the remote control device may send the first remote control signal and the second remote control signal to the movable platform through a digital remote control link.
  • S204 The movable platform performs channel decoding on the first remote control signal to obtain a third remote control signal.
  • the movable platform After receiving the first remote control signal, the movable platform can perform channel decoding on the first remote control signal to obtain a third remote control signal.
  • the movable platform fails to receive the first remote control signal or fails to decode the first remote control signal, then perform signal demodulation on the second remote control signal to obtain a fourth remote control signal, Store the fourth remote control signal.
  • the movable platform if the movable platform does not successfully receive the first remote control signal or fails to decode the first remote control signal, the movable platform cannot use the first remote control signal, and cannot use the first remote control signal to pair
  • the movable platform can be controlled. Since the second remote control signal does not include the check code, after receiving the second remote control signal, the movable platform can demodulate the second remote control signal to obtain a fourth remote control signal, and store the fourth remote control signal, Furthermore, the movable platform is controlled through the fourth remote control signal, which improves the robustness of the second remote control signal.
  • S205 The movable platform performs signal demodulation on the second remote control signal to obtain a fourth remote control signal.
  • the movable platform associates and stores the third remote control signal and the fourth remote control signal.
  • the current business demand can be obtained. If the current business demand is the first business demand, the mobile platform can respond to the third remote control signal To process. If the current service requirement is the second service requirement, the movable platform may process the fourth remote control signal. For example, the movable platform may respond to the third remote control signal or the fourth remote control signal to change the posture information, moving speed, or image shooting of the movable platform.
  • the first service requirement may be long-distance transmission or high-precision transmission.
  • the second service requirement can be low-delay transmission or high-frequency transmission.
  • the movable platform can determine that the current service requirement is the first service requirement. Then, after receiving the first remote control signal, the movable platform can perform channel decoding on the first remote control signal to obtain a third remote control signal, and then process the third remote control signal.
  • the mobile platform can determine that the current business demand is the second business demand. Then, after receiving the second remote control signal, the movable platform can demodulate the second remote control signal to obtain a fourth remote control signal, and then process the fourth remote control signal.
  • the embodiment of the present invention provides a remote control signal processing method.
  • the remote control device collects the remote control signal based on the remote control signal load, performs channel coding on the remote control signal to obtain the first remote control signal, and performs signal modulation on the remote control signal to obtain the second remote control signal.
  • a remote control signal and a second remote control signal are sent to the mobile platform through the digital system.
  • the mobile platform decodes the first remote control signal to obtain the third remote control signal, and demodulates the second remote control signal to obtain the fourth remote control signal.
  • the third remote control signal and the fourth remote control signal are associated and stored, which can take into account the accuracy and robustness of the remote control signal.
  • the embodiment of the present invention provides that a remote control device performs channel coding on a remote control signal to obtain a first remote control signal, and a movable platform performs channel decoding on the first remote control signal to obtain a first remote control signal.
  • the third specific method of remote control signal Please refer to Figure 3, which can specifically include the following steps:
  • the remote control device performs channel coding on the remote control signal to obtain an encoded remote control signal.
  • the remote control device performs bit sorting or bit segmentation on the encoded remote control signal to obtain a processed remote control signal.
  • the remote control device performs constellation modulation on the processed remote control signal to obtain a modulated remote control signal.
  • S304 The remote control device performs time-frequency domain resource multiplexing on the modulated remote control signal to obtain the first remote control signal.
  • the remote control device sends the first remote control signal to the movable platform through the digital system.
  • S306 The movable platform performs time-frequency domain resource demultiplexing on the first remote control signal to obtain a demultiplexed remote control signal.
  • S307 The mobile platform performs constellation demodulation on the demultiplexed remote control signal to obtain the demodulated remote control signal.
  • S308 The mobile platform performs bit rearrangement on the demodulated remote control signal to obtain a bit rearranged remote control signal.
  • S309 The mobile platform performs channel decoding on the remote control signal after bit rearrangement to obtain the third remote control signal.
  • the remote control device collects the remote control signal based on the remote control signal load, it can sequentially perform channel coding, bit sorting/segmentation, constellation modulation, and time-frequency domain resource multiplexing on the remote control signal.
  • the first remote control signal is obtained, and then the remote control device sends the first remote control signal to the movable platform through the front end of the remote control device and radio frequency.
  • the mobile platform receives the first remote control signal through the mobile platform's front end and radio frequency, it can sequentially perform time-frequency domain resource demultiplexing, constellation demodulation, bit rearrangement, and channel decoding on the first remote control signal to obtain the third Remote control signal.
  • the embodiment of the present invention provides a specific method in which a remote control device performs channel encoding on a remote control signal to obtain a first remote control signal, and a movable platform performs channel decoding on the first remote control signal to obtain a third remote control signal. With this method, the accuracy of the first remote control signal can be achieved.
  • the embodiment of the present invention provides a remote control device that modulates a remote control signal to obtain a second remote control signal, and a movable platform performs signal demodulation on the second remote control signal.
  • the specific method of obtaining the fourth remote control signal Please refer to Figure 4, which can specifically include the following steps:
  • the remote control device performs signal modulation on the remote control signal to obtain a modulated remote control signal.
  • the remote control device performs time-frequency domain resource multiplexing on the modulated remote control signal to obtain the second remote control signal.
  • the remote control device sends the second remote control signal to the movable platform through the digital system.
  • S404 The movable platform performs time-frequency domain resource demultiplexing on the second remote control signal to obtain a demultiplexed remote control signal.
  • S405 The movable platform performs signal demodulation on the demultiplexed remote control signal to obtain a fourth remote control signal.
  • the remote control device collects the remote control signal based on the remote control signal load, it can sequentially modulate the remote control signal and reuse the time-frequency domain resources to obtain the second remote control signal, and then control the remote control signal.
  • the device sends the second remote control signal to the movable platform through the front end of the remote control device and the radio frequency.
  • the mobile platform receives the second remote control signal through the front end of the mobile platform and the radio frequency, it can sequentially perform time-frequency domain resource demultiplexing and signal demodulation on the second remote control signal to obtain a fourth remote control signal.
  • signal modulation can include in-phase/quadrature (I/Q) modulation, suppressed carrier double-sideband modulation (DSB), single-sideband modulation (SSB), Vestigial sideband modulation (vestigial sideband, VSB), frequency modulation (Frequency Modulation, FM) or phase modulation (Phase Modulation, PM), etc.
  • I/Q in-phase/quadrature
  • DSB suppressed carrier double-sideband modulation
  • SSB single-sideband modulation
  • VSB Vestigial sideband modulation
  • FM Frequency Modulation
  • PM phase modulation
  • the embodiment of the present invention provides a specific method in which a remote control device performs signal modulation on a remote control signal to obtain a second remote control signal, and a movable platform performs signal demodulation on the second remote control signal to obtain a fourth remote control signal. With this method, the robustness of the second remote control signal can be realized.
  • the embodiment of the present invention provides an application scenario of a remote control signal processing method in the remote control system shown in FIG. 1, as shown in FIG. 6.
  • the remote control device is used as a remote control and the movable platform is a drone as an example for detailed introduction.
  • the remote control collects remote control signals based on the remote control signal load
  • the remote control signal load includes one or more of the number of remote control channels, the lever amount frequency, and the lever amount width
  • the remote control performs Channel coding obtains a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal.
  • the first remote control signal includes a check code
  • the second remote control signal does not include a check code.
  • the first remote control signal and the second remote control signal are sent to the drone through a digital system.
  • the drone performs channel decoding on the first remote control signal to obtain a third remote control signal
  • the drone performs signal demodulation on the second remote control signal to obtain a fourth remote control signal
  • the drone controls the third remote control signal.
  • the signal and the fourth remote control signal are associated and stored. It is understandable that the above application scenario is only one application scenario of the remote control signal processing method shown in FIG. 2 to FIG. 4, and may also include other application scenarios, which is not limited in this embodiment.
  • the embodiment of the present invention provides a remote control device for executing corresponding steps in the method for processing remote control signals.
  • the remote control device includes a memory 701 and a processor 702; the memory 701 is used to store program code; the processor 702 calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
  • the first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  • the processor 702 performs the following operations when performing channel coding on the remote control signal to obtain the first remote control signal:
  • Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the first remote control signal.
  • the processor 702 performs the following operations when performing signal modulation on the remote control signal to obtain the second remote control signal:
  • Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the second remote control signal.
  • the processor 702 performs the following operations when sending the first remote control signal and the second remote control signal to a movable platform through a digital system:
  • the first remote control signal and the second remote control signal are sent to the movable platform through a digital remote control link.
  • the remote control device collects a remote control signal based on the remote control signal load, performs channel coding on the remote control signal to obtain a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal.
  • the signal includes a check code
  • the second remote control signal does not include a check code.
  • the first remote control signal and the second remote control signal are sent to the mobile platform through a digital system, which can take into account the accuracy and robustness of the remote control signal.
  • a digital system which can take into account the accuracy and robustness of the remote control signal.
  • the portable platform includes a memory 801 and a processor 802; the memory 801 is used to store program codes; the processor 802 calls the program codes, and when the program codes are executed, they are used to perform the following operations:
  • the third remote control signal and the fourth remote control signal are associated and stored.
  • processor 802 further performs the following operations:
  • processor 802 associates and stores the third remote control signal and the fourth remote control signal, it further performs the following operations:
  • the fourth remote control signal is processed.
  • the first service requirement is long-distance transmission or high-precision transmission.
  • the second service requirement is low-delay transmission or high-frequency transmission.
  • the processor 802 performs the following operations when performing channel decoding on the first remote control signal to obtain the third remote control signal:
  • Channel decoding is performed on the remote control signal after the bit rearrangement to obtain the third remote control signal.
  • the processor 802 performs the following operations when performing signal demodulation on the second remote control signal to obtain the fourth remote control signal:
  • the processor 802 performs the following operations when receiving the first remote control signal and the second remote control signal sent by the remote control device through the digital system:
  • the first remote control signal and the second remote control signal sent by the remote control device are received through a digital remote control link.
  • the mobile platform receives a first remote control signal and a second remote control signal sent by a remote control device through a digital system, performs channel decoding on the first remote control signal, and obtains a third remote control signal, and controls the second remote control signal.
  • the signal is demodulated to obtain a fourth remote control signal, and the third remote control signal and the fourth remote control signal are associated and stored, which can take into account the accuracy and robustness of the remote control signal.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the implementation in the embodiments corresponding to FIGS. 2, 3, and 4 is The related functions described are not 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 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 equipped on the device, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card. , Flash Card, etc.
  • 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 terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

A method for processing a remote control signal, a remote control device and a remote control system. The method for processing a remote control signal comprises: collecting a remote control signal based on a remote control signal load (S201), the remote control signal load comprising one or more of the number of remote control channels, the frequency of load measuring, and the bit width of load measuring; performing channel coding on the remote control signal to obtain a first remote control signal, and performing signal modulation on the remote control signal to obtain a second remote control signal (S202), the first remote control signal comprising a check code, and the second remote control signal not comprising a check code; and sending the first remote control signal and the second remote control signal by a digital system to a moving platform (S203). According to the method for processing the remote control signal, on the basis of the digital system, the first remote control signal can be obtained by means of channel coding, and the second remote control signal can be obtained by means of signal modulation, so that the first remote control signal has higher accuracy, and the second remote control signal has higher robustness, thereby ensuring the accuracy and robustness of the remote control signal.

Description

一种遥控信号的处理方法、遥控设备及遥控系统Remote control signal processing method, remote control equipment and remote control system 技术领域Technical field
本发明涉及通信技术领域，尤其涉及一种遥控信号的处理方法、遥控设备及遥控系统。The present invention relates to the field of communication technology, in particular to a remote control signal processing method, remote control equipment and remote control system.
背景技术Background technique
在可移动平台(如航拍机、遥控汽车、遥控船等)的移动过程中，可以通过遥控设备对其进行控制，以使可移动平台在移动过程中可以根据用户的需求移动和实现特定的功能。可移动平台对应的遥控设备可以通过模拟遥控链路或者数字遥控链路向可移动平台传输遥控信号。模拟遥控链路抗干扰能力弱，无法实现远距离传输，但是不存在延时抖动的情况。数字遥控链路具备精度高，传输距离远，抗干扰能力强等优点，但是延时抖动较大，低信噪比环境下有丢包现象。基于此，如何兼顾遥控信号的精确性和鲁棒性，是当前亟需解决的技术问题。During the movement of the movable platform (such as aerial camera, remote control car, remote control boat, etc.), it can be controlled by remote control equipment, so that the movable platform can move according to the needs of users and realize specific functions during the movement. . The remote control device corresponding to the movable platform can transmit remote control signals to the movable platform through an analog remote control link or a digital remote control link. The analog remote control link has weak anti-interference ability and cannot realize long-distance transmission, but there is no delay and jitter. The digital remote control link has the advantages of high accuracy, long transmission distance, and strong anti-interference ability, but the delay jitter is large, and packet loss occurs in a low signal-to-noise ratio environment. Based on this, how to balance the accuracy and robustness of the remote control signal is a technical problem that needs to be solved urgently.
发明内容Summary of the invention
本发明实施例提供了一种遥控信号的处理方法、遥控设备及遥控系统，可在数字系统的基础上，通过信道编码的方式获取第一遥控信号，并通过信号调制的方式获取第二遥控信号，使得第一遥控信号有较高的精确性，第二遥控信号有较高的鲁棒性，以兼顾遥控信号的精确性和鲁棒性。The embodiment of the present invention provides a remote control signal processing method, remote control equipment, and remote control system, which can obtain a first remote control signal through channel coding on the basis of a digital system, and obtain a second remote control signal through signal modulation. , So that the first remote control signal has higher accuracy, and the second remote control signal has higher robustness, so as to take into account the accuracy and robustness of the remote control signal.
一方面，本发明实施例提供一种遥控信号的处理方法，包括：On the one hand, an embodiment of the present invention provides a remote control signal processing method, including:
基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种；Collect remote control signals based on the remote control signal load, the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码；Perform channel coding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal, the first remote control signal includes a check code, and the second remote control signal does not include a check code;
将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台。The first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
另一方面，本发明实施例提供一种遥控信号的处理方法，包括：On the other hand, an embodiment of the present invention provides a remote control signal processing method, including:
通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号；Receiving the first remote control signal and the second remote control signal sent by the remote control device through a digital system;
对所述第一遥控信号进行信道解码，得到第三遥控信号；Channel decoding the first remote control signal to obtain a third remote control signal;
对所述第二遥控信号进行信号解调，得到第四遥控信号；Signal demodulation on the second remote control signal to obtain a fourth remote control signal;
将所述第三遥控信号和所述第四遥控信号进行关联存储。The third remote control signal and the fourth remote control signal are associated and stored.
另一方面，本发明实施例提供一种遥控设备，包括存储器和处理器；On the other hand, an embodiment of the present invention provides a remote control device, including a memory and a processor;
所述存储器用于存储程序代码；The memory is used to store program codes;
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行如下操作：The processor calls the program code, and when the program code is executed, it is used to perform the following operations:
基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种；Collect remote control signals based on the remote control signal load, the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码；Perform channel coding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal, the first remote control signal includes a check code, and the second remote control signal does not include a check code;
将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台。The first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
另一方面，本发明实施例提供一种可移动平台，包括存储器和处理器；On the other hand, an embodiment of the present invention provides a movable platform including a memory and a processor;
所述存储器用于存储程序代码；The memory is used to store program codes;
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行如下操作：The processor calls the program code, and when the program code is executed, it is used to perform the following operations:
通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号；Receiving the first remote control signal and the second remote control signal sent by the remote control device through a digital system;
对所述第一遥控信号进行信道解码，得到第三遥控信号；Channel decoding the first remote control signal to obtain a third remote control signal;
对所述第二遥控信号进行信号解调，得到第四遥控信号；Signal demodulation on the second remote control signal to obtain a fourth remote control signal;
将所述第三遥控信号和所述第四遥控信号进行关联存储。The third remote control signal and the fourth remote control signal are associated and stored.
另一方面，本发明实施例提供一种遥控系统，包括遥控设备和可移动平台；On the other hand, an embodiment of the present invention provides a remote control system, including a remote control device and a movable platform;
所述遥控设备用于基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种；The remote control device is used to collect remote control signals based on a remote control signal load, and the remote control signal load includes one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
所述遥控设备还用于对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码；The remote control device is also used to perform channel encoding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal. The first remote control signal includes a check code. 2. The remote control signal does not include the check code;
所述遥控设备还用于将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台；The remote control device is also used to send the first remote control signal and the second remote control signal to a mobile platform through a digital system;
所述可移动平台用于对所述第一遥控信号进行信道解码，得到第三遥控信号，对所述第二遥控信号进行信号解调，得到第四遥控信号，并将所述第三遥控信号和所述第四遥控信号进行关联存储。The movable platform is used to perform channel decoding on the first remote control signal to obtain a third remote control signal, perform signal demodulation on the second remote control signal to obtain a fourth remote control signal, and combine the third remote control signal And store in association with the fourth remote control signal.
本发明实施例提供一种遥控信号的处理方法、遥控设备及遥控系统，所述遥控信号的处理方法包括基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种，对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码，将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台。采用该方法，可在数字系统的基础上，通过信道编码的方式获取第一遥控信号，并通过信号调制的方式获取第二遥控信号，使得第一遥控信号有较高的精确性，第二遥控信号有较高的鲁棒性，以兼顾遥控信号的精确性和鲁棒性。Embodiments of the present invention provide a remote control signal processing method, remote control equipment, and remote control system. The remote control signal processing method includes collecting remote control signals based on a remote control signal load. The remote control signal load includes the number of remote control channels, the frequency of the lever, and the lever. One or more of the measurement bit widths, channel coding the remote control signal to obtain a first remote control signal, and signal modulation to the remote control signal to obtain a second remote control signal, the first remote control signal including a check code , The second remote control signal does not include the check code, and the first remote control signal and the second remote control signal are sent to the movable platform through a digital system. With this method, on the basis of a digital system, the first remote control signal can be acquired through channel coding, and the second remote control signal can be acquired through signal modulation, so that the first remote control signal has higher accuracy and the second remote control signal is more accurate. The signal has high robustness, in order to take into account the accuracy and robustness of the remote control signal.
附图说明Description of the 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 explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.
图1为本发明实施例提供的一种遥控系统的结构示意图；Figure 1 is a schematic structural diagram of a remote control system provided by an embodiment of the present invention;
图2为本发明实施例提供的一种遥控信号的处理方法的流程示意图；2 is a schematic flowchart of a remote control signal processing method provided by an embodiment of the present invention;
图3为本发明实施例提供的一种遥控设备对遥控信号进行信道编码的方法的流程示意图；FIG. 3 is a schematic flowchart of a method for a remote control device to perform channel coding on a remote control signal according to an embodiment of the present invention;
图4为本发明实施例提供的一种遥控设备对遥控信号进行信号调制的方法的流程示意图；4 is a schematic flowchart of a method for a remote control device to modulate a remote control signal according to an embodiment of the present invention;
图5为本发明实施例提供的一种遥控系统的架构示意图；FIG. 5 is a schematic diagram of the architecture of a remote control system provided by an embodiment of the present invention;
图6为本发明实施例提供的一种遥控信号的处理方法的应用示意图；6 is a schematic diagram of the application of a remote control signal processing method provided by an embodiment of the present invention;
图7为本发明实施例提供的一种遥控设备的结构示意图；FIG. 7 is a schematic structural diagram of a remote control device provided by an embodiment of the present invention;
图8为本发明实施例提供的一种可移动平台的结构示意图。Fig. 8 is a schematic structural diagram of a movable platform 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、完整地描述，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作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 and completely described below in conjunction with 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 work 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。Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
在控制系统中，可移动平台对应的遥控设备可以通过模拟遥控链路或者数字遥控链路向可移动平台传输遥控信号。模拟遥控链路抗干扰能力弱，无法实现远距离传输，但是不存在延时抖动的情况。数字遥控链路具备精度高，传输距离远，抗干扰能力强等优点，但是延时抖动较大，低信噪比环境下有丢包现象。为了兼顾遥控信号的精确性和鲁棒性，本发明实施例提出一种遥控信号的处理方法，该方法可在数字系统的基础上，通过信道编码的方式获取第一遥控信号，并通过信号调制的方式获取第二遥控信号，使得第一遥控信号有较高的精确性，第二遥控信号有较高的鲁棒性，以兼顾遥控信号的精确性和鲁棒性。In the control system, the remote control device corresponding to the movable platform can transmit remote control signals to the movable platform through an analog remote control link or a digital remote control link. The analog remote control link has weak anti-interference ability and cannot realize long-distance transmission, but there is no delay and jitter. The digital remote control link has the advantages of high accuracy, long transmission distance, and strong anti-interference ability, but the delay jitter is large, and packet loss occurs in a low signal-to-noise ratio environment. In order to take into account the accuracy and robustness of the remote control signal, the embodiment of the present invention proposes a remote control signal processing method, which can obtain the first remote control signal through channel coding based on the digital system, and modulate the signal. The second remote control signal is acquired in a way, so that the first remote control signal has higher accuracy, and the second remote control signal has higher robustness, so as to take into account the accuracy and robustness of the remote control signal.
本发明实施例提供一种遥控系统，如图1所示，该遥控系统包括遥控设备和电子设备。其中，遥控设备是具有遥控功能的一种设备(如遥控器、手机、平板电脑、地面控制站等)，用于通过向电子设备发送遥控信号以控制电子设备的移动以及执行相关的功能操作。例如，遥控设备可以控制电子设备的移动方向(如向左移动或向右移动)，还可以控制电子设备的移动速度(如以20公里/小时移动)。又例如，当电子设备具备拍摄功能时，遥控设备可以控制电子设备进行图像拍摄。An embodiment of the present invention provides a remote control system. As shown in FIG. 1, the remote control system includes a remote control device and an electronic device. Among them, a remote control device is a device with a remote control function (such as a remote control, a mobile phone, a tablet computer, a ground control station, etc.), which is used to control the movement of the electronic device and perform related functional operations by sending a remote control signal to the electronic device. For example, the remote control device can control the moving direction of the electronic device (such as moving to the left or right), and can also control the moving speed of the electronic device (such as moving at 20 km/h). For another example, when the electronic device has a shooting function, the remote control device can control the electronic device to perform image shooting.
可移动平台是被所述遥控设备控制的设备，用于根据遥控设备的遥控信号进行移动或执行相关的功能操作。例如，可移动平台根据接收到的遥控设备的遥控信号确定向前移动或向后移动。又例如，当遥控设备的遥控信号包括执行定点悬停时，可移动平台根据接收到的遥控设备的遥控信号在指定的定点停止移动。其中，可移动平台可以为无人机、无人车或者移动机器人等。可以理解 的是，遥控设备和被遥控的可移动平台可以是一一对应的关系，也可以是一个遥控设备对应多个被遥控的可移动平台，通过在遥控设备上切换控制以实现对多个可移动平台的遥控控制。图1所示的遥控系统仅为一种示例，该遥控系统还可以包括多个遥控设备和多个可移动平台，本实施例不作限制。The movable platform is a device controlled by the remote control device, and is used to move or perform related functional operations according to the remote control signal of the remote control device. For example, the movable platform determines to move forward or backward according to the received remote control signal of the remote control device. For another example, when the remote control signal of the remote control device includes the execution of fixed-point hovering, the movable platform stops moving at the designated fixed point according to the received remote control signal of the remote control device. Among them, the movable platform can be an unmanned aerial vehicle, an unmanned vehicle, or a mobile robot. It is understandable that the remote control device and the remotely controlled movable platform can have a one-to-one correspondence, or one remote control device corresponds to multiple remotely controlled movable platforms. By switching control on the remote control device to achieve multiple Remote control of movable platform. The remote control system shown in FIG. 1 is only an example, and the remote control system may also include multiple remote control devices and multiple movable platforms, which is not limited in this embodiment.
在本发明实施例提供的遥控系统中，遥控设备和可移动平台之间采用数字系统，例如正交频分复用技术(Orthogonal Frequency Division Multiplexing，OFDM)系统。数字系统可以包括数字遥控链路。通常来讲，数字遥控链路包括以下几个部分：遥杆，采集，数模/模数转换，编码，发送，接收，解码和输出。数字遥控链路中传输的遥控信号的遥控信号负载通常包括遥控通道数、杆量位宽或杆量频率中的一个或多个。其中，遥控通道数对应了遥控设备可以实现的多种遥控功能，包括不同用途的遥杆、拨杆、开关和按键等，遥控通道数越多，遥控设备的功能越丰富。杆量位宽表示遥控设备传输的控制杆量对应的比特数，当杆量位宽越高(比特数越多)时，遥控设备可以实现更微小精确的操作，当杆量位宽越低(比特数越少)时，遥控设备的操作越粗糙，可能出现遥控不到位的情况。杆量频率表示遥控杆量的发送频率，当杆量频率越高时，遥控设备的控制手感越灵敏，当杆量频率越低时，遥控设备的控制手感越迟钝。通常来讲，遥控设备的杆量频率在50Hz-200Hz之间，遥控设备具备较好的操控性。In the remote control system provided by the embodiment of the present invention, a digital system is adopted between the remote control device and the movable platform, such as an orthogonal frequency division multiplexing (OFDM) system. The digital system may include a digital remote control link. Generally speaking, a digital remote control link includes the following parts: remote control, acquisition, digital-analog/analog-to-digital conversion, encoding, sending, receiving, decoding and output. The remote control signal load of the remote control signal transmitted in the digital remote control link usually includes one or more of the number of remote control channels, the position width of the rod, or the frequency of the rod. Among them, the number of remote control channels corresponds to the multiple remote control functions that the remote control device can achieve, including remote sticks, levers, switches, and buttons for different purposes. The more remote control channels there are, the more functions the remote control device has. The rod amount width represents the number of bits corresponding to the amount of control rod transmitted by the remote control device. When the rod amount width is higher (the number of bits is more), the remote control device can achieve a more minute and precise operation. When the rod amount width is lower ( When the number of bits is less), the operation of the remote control device is rougher, and the remote control may not be in place. The lever frequency represents the sending frequency of the remote control lever. When the frequency of the lever is higher, the control feel of the remote control device is more sensitive, and when the frequency of the lever is lower, the control feel of the remote control device is more sluggish. Generally speaking, the lever frequency of the remote control device is between 50Hz-200Hz, and the remote control device has better controllability.
本发明实施例提供一种遥控信号的处理方法，请参见图2，该方法可以应用于图1所示的遥控系统中，具体包括以下步骤：The embodiment of the present invention provides a remote control signal processing method. Please refer to FIG. 2. The method can be applied to the remote control system shown in FIG. 1, and specifically includes the following steps:
S201，遥控设备基于遥控信号负载采集遥控信号。S201: The remote control device collects a remote control signal based on the remote control signal load.
遥控设备可以基于遥控信号负载采集遥控信号，其中，遥控信号负载可以包括遥控通道数、杆量频率以及杆量位宽中的一种或多种。The remote control device may collect remote control signals based on the remote control signal load, where the remote control signal load may include one or more of the number of remote control channels, the frequency of the lever, and the width of the lever.
举例来说，假设遥控通道数包括3个遥杆和5个控制按键，则遥控设备可以采集用户对遥控设备中3个遥杆和5个控制按键中的部分或者全部进行操作时生成的遥控信号。假设杆量频率为50Hz，则遥控设备可以每间隔0.02秒(s)采集一次遥控信号。假设杆量位宽为128比特，则遥控设备可以生成比特数为128比特的遥控信号。For example, assuming that the number of remote control channels includes 3 joysticks and 5 control buttons, the remote control device can collect the remote control signals generated when the user operates some or all of the 3 joysticks and 5 control buttons in the remote control device . Assuming that the lever frequency is 50 Hz, the remote control device can collect a remote control signal every 0.02 second (s). Assuming that the rod measurement bit width is 128 bits, the remote control device can generate a remote control signal with a bit number of 128 bits.
S202，遥控设备对遥控信号进行信道编码得到第一遥控信号，并对遥控信号进行信号调制得到第二遥控信号。S202: The remote control device performs channel coding on the remote control signal to obtain a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal.
遥控设备可以在数字系统对遥控信号进行数字信号处理，例如对遥控信号进行信道编码得到第一遥控信号，第一遥控信号包括校验码。可移动平台接收到第一遥控信号之后，可以通过校验码对第一遥控信号进行校验，若校验成功，则可移动平台确定成功接收到第一遥控信号；若校验失败，则可移动平台确定未成功接收到第一遥控信号，即可移动平台不能对第一遥控信号进行处理。由此可知，第一遥控信号的精确度较高。The remote control device may perform digital signal processing on the remote control signal in the digital system, for example, perform channel coding on the remote control signal to obtain the first remote control signal, and the first remote control signal includes a check code. After the mobile platform receives the first remote control signal, the first remote control signal can be verified by the check code. If the verification is successful, the mobile platform determines that the first remote control signal is successfully received; if the verification fails, it can The mobile platform determines that the first remote control signal is not successfully received, that is, the mobile platform cannot process the first remote control signal. It can be seen that the accuracy of the first remote control signal is relatively high.
遥控设备还可以在数字系统对遥控信号进行模拟信号处理，例如对遥控信号进行信号调制得到第二遥控信号。由于第二遥控信号不包括校验码，那么可移动平台接收到第二遥控信号之后，不会对第二遥控信号进行校验，而是直接存储第二遥控信号，传输延时较小，即第二遥控信号的鲁棒性较高。The remote control device can also perform analog signal processing on the remote control signal in the digital system, for example, perform signal modulation on the remote control signal to obtain the second remote control signal. Since the second remote control signal does not include the check code, after the mobile platform receives the second remote control signal, it will not check the second remote control signal, but directly store the second remote control signal, and the transmission delay is small, that is, The robustness of the second remote control signal is relatively high.
S203，遥控设备将第一遥控信号和第二遥控信号通过数字系统发送给可移动平台。S203: The remote control device sends the first remote control signal and the second remote control signal to the movable platform through the digital system.
在一种实现方式中，遥控设备可以将所述第一遥控信号和所述第二遥控信号通过数字遥控链路发送给所述可移动平台。In an implementation manner, the remote control device may send the first remote control signal and the second remote control signal to the movable platform through a digital remote control link.
S204，可移动平台对第一遥控信号进行信道解码，得到第三遥控信号。S204: The movable platform performs channel decoding on the first remote control signal to obtain a third remote control signal.
可移动平台接收到第一遥控信号之后，可以对第一遥控信号进行信道解码，得到第三遥控信号。After receiving the first remote control signal, the movable platform can perform channel decoding on the first remote control signal to obtain a third remote control signal.
在一种实现方式中，若可移动平台未成功接收所述第一遥控信号或者对所述第一遥控信号解码失败，则对所述第二遥控信号进行信号解调，得到第四遥控信号，存储所述第四遥控信号。In an implementation manner, if the movable platform fails to receive the first remote control signal or fails to decode the first remote control signal, then perform signal demodulation on the second remote control signal to obtain a fourth remote control signal, Store the fourth remote control signal.
在该实施例中，若可移动平台未成功接收所述第一遥控信号或者对所述第一遥控信号解码失败，则可移动平台无法使用第一遥控信号，也就无法通过第一遥控信号对可移动平台进行控制。由于第二遥控信号不包括校验码，则可移动平台接收到第二遥控信号之后，可对所述第二遥控信号进行信号解调，得到第四遥控信号，存储所述第四遥控信号，进而通过第四遥控信号对可移动平台进行控制，提高第二遥控信号的鲁棒性。In this embodiment, if the movable platform does not successfully receive the first remote control signal or fails to decode the first remote control signal, the movable platform cannot use the first remote control signal, and cannot use the first remote control signal to pair The movable platform can be controlled. Since the second remote control signal does not include the check code, after receiving the second remote control signal, the movable platform can demodulate the second remote control signal to obtain a fourth remote control signal, and store the fourth remote control signal, Furthermore, the movable platform is controlled through the fourth remote control signal, which improves the robustness of the second remote control signal.
S205，可移动平台对第二遥控信号进行信号解调，得到第四遥控信号。S205: The movable platform performs signal demodulation on the second remote control signal to obtain a fourth remote control signal.
S206，可移动平台将第三遥控信号和第四遥控信号进行关联存储。S206: The movable platform associates and stores the third remote control signal and the fourth remote control signal.
在一种实现方式中，可移动平台将第三遥控信号和第四遥控信号进行关联存储之后，可以获取当前业务需求，若当前业务需求为第一业务需求，可移动平台可以对第三遥控信号进行处理。若当前业务需求为第二业务需求，可移动平台可以对所述第四遥控信号进行处理。例如，可移动平台可以响应第三遥控信号或者第四遥控信号改变可移动平台的姿态信息、移动速度或者进行图像拍摄等。In one implementation, after the mobile platform associates and stores the third remote control signal and the fourth remote control signal, the current business demand can be obtained. If the current business demand is the first business demand, the mobile platform can respond to the third remote control signal To process. If the current service requirement is the second service requirement, the movable platform may process the fourth remote control signal. For example, the movable platform may respond to the third remote control signal or the fourth remote control signal to change the posture information, moving speed, or image shooting of the movable platform.
其中，第一业务需求可以为远距离传输或者高精度传输。第二业务需求可以为低延时传输或者高频度传输。Among them, the first service requirement may be long-distance transmission or high-precision transmission. The second service requirement can be low-delay transmission or high-frequency transmission.
例如，在遥控设备控制可移动平台进行图像拍摄的场景中，对遥控信号的精度需求或者远距离传输需求较高，则可移动平台可以确定当前业务需求为第一业务需求。那么可移动平台接收到第一遥控信号之后，可以对第一遥控信号进行信道解码，得到第三遥控信号，进而对第三遥控信号进行处理。For example, in a scene in which a remote control device controls a movable platform for image shooting, the accuracy requirement of the remote control signal or the requirement for long-distance transmission is high, the movable platform can determine that the current service requirement is the first service requirement. Then, after receiving the first remote control signal, the movable platform can perform channel decoding on the first remote control signal to obtain a third remote control signal, and then process the third remote control signal.
又如，在穿越机竞赛场景中，对遥控信号的低延时需求或者高频度需求较高，则可移动平台可以确定当前业务需求为第二业务需求。那么可移动平台接收到第二遥控信号之后，可以对第二遥控信号进行信号解调，得到第四遥控信号，进而对第四遥控信号进行处理。For another example, in a traversing machine competition scenario, where the low-latency or high-frequency requirements of remote control signals are high, the mobile platform can determine that the current business demand is the second business demand. Then, after receiving the second remote control signal, the movable platform can demodulate the second remote control signal to obtain a fourth remote control signal, and then process the fourth remote control signal.
本发明实施例提供一种遥控信号的处理方法，遥控设备基于遥控信号负载采集遥控信号，对遥控信号进行信道编码得到第一遥控信号，并对遥控信号进行信号调制得到第二遥控信号，将第一遥控信号和第二遥控信号通过数字系统发送给可移动平台，可移动平台对第一遥控信号进行信道解码，得到第三遥控信号，对第二遥控信号进行信号解调，得到第四遥控信号，然后将第三遥控信号和第四遥控信号进行关联存储，可兼顾遥控信号的精确性和鲁棒性。The embodiment of the present invention provides a remote control signal processing method. The remote control device collects the remote control signal based on the remote control signal load, performs channel coding on the remote control signal to obtain the first remote control signal, and performs signal modulation on the remote control signal to obtain the second remote control signal. A remote control signal and a second remote control signal are sent to the mobile platform through the digital system. The mobile platform decodes the first remote control signal to obtain the third remote control signal, and demodulates the second remote control signal to obtain the fourth remote control signal. , And then the third remote control signal and the fourth remote control signal are associated and stored, which can take into account the accuracy and robustness of the remote control signal.
结合图2所示的实施例中的遥控信号的处理方法的描述，本发明实施例提供了遥控设备对遥控信号进行信道编码得到第一遥控信号以及可移动平台对第一遥控信号进行信道解码得到第三遥控信号的具体方法。请参见图3，具体可以包括以下步骤：In conjunction with the description of the remote control signal processing method in the embodiment shown in FIG. 2, the embodiment of the present invention provides that a remote control device performs channel coding on a remote control signal to obtain a first remote control signal, and a movable platform performs channel decoding on the first remote control signal to obtain a first remote control signal. The third specific method of remote control signal. Please refer to Figure 3, which can specifically include the following steps:
S301，遥控设备对遥控信号进行信道编码，得到编码后的遥控信号。S301: The remote control device performs channel coding on the remote control signal to obtain an encoded remote control signal.
S302，遥控设备对所述编码后的遥控信号进行比特排序或者比特分割，得到处理后的遥控信号。S302: The remote control device performs bit sorting or bit segmentation on the encoded remote control signal to obtain a processed remote control signal.
S303，遥控设备对所述处理后的遥控信号进行星座图调制，得到调制后的遥控信号。S303: The remote control device performs constellation modulation on the processed remote control signal to obtain a modulated remote control signal.
S304，遥控设备对所述调制后的遥控信号进行时频域资源复用，得到所述第一遥控信号。S304: The remote control device performs time-frequency domain resource multiplexing on the modulated remote control signal to obtain the first remote control signal.
S305，遥控设备将所述第一遥控信号通过数字系统发送给可移动平台。S305: The remote control device sends the first remote control signal to the movable platform through the digital system.
S306，可移动平台对所述第一遥控信号进行时频域资源解复用，得到解复用后的遥控信号。S306: The movable platform performs time-frequency domain resource demultiplexing on the first remote control signal to obtain a demultiplexed remote control signal.
S307，可移动平台对所述解复用后的遥控信号进行星座图解调，得到解调后的遥控信号。S307: The mobile platform performs constellation demodulation on the demultiplexed remote control signal to obtain the demodulated remote control signal.
S308，可移动平台对所述解调后的遥控信号进行比特重排，得到比特重排后的遥控信号。S308: The mobile platform performs bit rearrangement on the demodulated remote control signal to obtain a bit rearranged remote control signal.
S309，可移动平台对所述比特重排后的遥控信号进行信道解码，得到所述第三遥控信号。S309: The mobile platform performs channel decoding on the remote control signal after bit rearrangement to obtain the third remote control signal.
以图5所示的遥控系统的架构示意图为例，遥控设备基于遥控信号负载采集到遥控信号之后，可以依次对遥控信号进行信道编码、比特排序/分割、星座图调制以及时频域资源复用，得到第一遥控信号，然后遥控设备通过遥控设备的前端与射频将第一遥控信号发送给可移动平台。可移动平台通过可移动平台的前端与射频接收到第一遥控信号之后，可以依次对第一遥控信号进行时频域资源解复用、星座图解调、比特重排以及信道解码，得到第三遥控信号。Take the architecture diagram of the remote control system shown in Figure 5 as an example. After the remote control device collects the remote control signal based on the remote control signal load, it can sequentially perform channel coding, bit sorting/segmentation, constellation modulation, and time-frequency domain resource multiplexing on the remote control signal. , The first remote control signal is obtained, and then the remote control device sends the first remote control signal to the movable platform through the front end of the remote control device and radio frequency. After the mobile platform receives the first remote control signal through the mobile platform's front end and radio frequency, it can sequentially perform time-frequency domain resource demultiplexing, constellation demodulation, bit rearrangement, and channel decoding on the first remote control signal to obtain the third Remote control signal.
本发明实施例提供了遥控设备对遥控信号进行信道编码得到第一遥控信号以及可移动平台对第一遥控信号进行信道解码得到第三遥控信号的具体方法。采用该方法，可实现第一遥控信号的精确性。The embodiment of the present invention provides a specific method in which a remote control device performs channel encoding on a remote control signal to obtain a first remote control signal, and a movable platform performs channel decoding on the first remote control signal to obtain a third remote control signal. With this method, the accuracy of the first remote control signal can be achieved.
结合图2所示的实施例中的遥控信号的处理方法的描述，本发明实施例提供了遥控设备对遥控信号进行信号调制得到第二遥控信号以及可移动平台对第二遥控信号进行信号解调得到第四遥控信号的具体方法。请参见图4，具体可以包括以下步骤：In conjunction with the description of the remote control signal processing method in the embodiment shown in FIG. 2, the embodiment of the present invention provides a remote control device that modulates a remote control signal to obtain a second remote control signal, and a movable platform performs signal demodulation on the second remote control signal. The specific method of obtaining the fourth remote control signal. Please refer to Figure 4, which can specifically include the following steps:
S401，遥控设备对遥控信号进行信号调制，得到调制后的遥控信号。S401: The remote control device performs signal modulation on the remote control signal to obtain a modulated remote control signal.
S402，遥控设备对调制后的遥控信号进行时频域资源复用，得到所述第二遥控信号。S402: The remote control device performs time-frequency domain resource multiplexing on the modulated remote control signal to obtain the second remote control signal.
S403，遥控设备将所述第二遥控信号通过数字系统发送给可移动平台。S403: The remote control device sends the second remote control signal to the movable platform through the digital system.
S404，可移动平台对所述第二遥控信号进行时频域资源解复用，得到解复用后的遥控信号。S404: The movable platform performs time-frequency domain resource demultiplexing on the second remote control signal to obtain a demultiplexed remote control signal.
S405，可移动平台对所述解复用后的遥控信号进行信号解调，得到第四遥控信号。S405: The movable platform performs signal demodulation on the demultiplexed remote control signal to obtain a fourth remote control signal.
以图5所示的遥控系统的架构示意图为例，遥控设备基于遥控信号负载采集到遥控信号之后，可以依次对遥控信号进行信号调制以及时频域资源复用，得到第二遥控信号，然后遥控设备通过遥控设备的前端与射频将第二遥控信号发送给可移动平台。可移动平台通过可移动平台的前端与射频接收到第二遥控信号之后，可以依次对第二遥控信号进行时频域资源解复用以及信号解调，得到第四遥控信号。Take the schematic diagram of the remote control system shown in Figure 5 as an example. After the remote control device collects the remote control signal based on the remote control signal load, it can sequentially modulate the remote control signal and reuse the time-frequency domain resources to obtain the second remote control signal, and then control the remote control signal. The device sends the second remote control signal to the movable platform through the front end of the remote control device and the radio frequency. After the mobile platform receives the second remote control signal through the front end of the mobile platform and the radio frequency, it can sequentially perform time-frequency domain resource demultiplexing and signal demodulation on the second remote control signal to obtain a fourth remote control signal.
其中，信号调制可以包括同相/正交(In-phase/Quadrature，I/Q)调制、抑制载波双边带调制(Double-sideband modulation，DSB)、单边带调制(Single-sideband modulation，SSB)、残留边带调制(vestigial sideband，VSB)、频率调制(Frequency Modulation，FM)或相位调制(Phase Modulation，PM)等。Among them, signal modulation can include in-phase/quadrature (I/Q) modulation, suppressed carrier double-sideband modulation (DSB), single-sideband modulation (SSB), Vestigial sideband modulation (vestigial sideband, VSB), frequency modulation (Frequency Modulation, FM) or phase modulation (Phase Modulation, PM), etc.
本发明实施例提供了遥控设备对遥控信号进行信号调制得到第二遥控信号以及可移动平台对第二遥控信号进行信号解调得到第四遥控信号的具体方法。采用该方法，可实现第二遥控信号的鲁棒性。The embodiment of the present invention provides a specific method in which a remote control device performs signal modulation on a remote control signal to obtain a second remote control signal, and a movable platform performs signal demodulation on the second remote control signal to obtain a fourth remote control signal. With this method, the robustness of the second remote control signal can be realized.
结合上述遥控信号的处理方法和遥控系统的实施例中的描述，本发明实施例提供一种遥控信号的处理方法在如图1所示的遥控系统中的应用场景，如图6所示。在图6所示的应用场景中，以遥控设备为遥控器，可移动平台为无人机为例进行详细介绍。具体可以包括以下步骤：遥控器基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种，遥控器对所述遥控信号进行信道编码得到第一遥控信号，并对所述 遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码，遥控器将所述第一遥控信号和所述第二遥控信号通过数字系统发送给无人机。无人机对所述第一遥控信号进行信道解码，得到第三遥控信号，无人机对所述第二遥控信号进行信号解调，得到第四遥控信号，无人机将所述第三遥控信号和所述第四遥控信号进行关联存储。可以理解的是，上述应用场景仅为图2至图4所示的遥控信号的处理方法的一种应用场景，还可以包括其他的应用场景，本实施例不作限制。Combining the descriptions in the foregoing remote control signal processing method and the embodiment of the remote control system, the embodiment of the present invention provides an application scenario of a remote control signal processing method in the remote control system shown in FIG. 1, as shown in FIG. 6. In the application scenario shown in Fig. 6, the remote control device is used as a remote control and the movable platform is a drone as an example for detailed introduction. Specifically, it may include the following steps: the remote control collects remote control signals based on the remote control signal load, the remote control signal load includes one or more of the number of remote control channels, the lever amount frequency, and the lever amount width, and the remote control performs Channel coding obtains a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal. The first remote control signal includes a check code, and the second remote control signal does not include a check code. The first remote control signal and the second remote control signal are sent to the drone through a digital system. The drone performs channel decoding on the first remote control signal to obtain a third remote control signal, the drone performs signal demodulation on the second remote control signal to obtain a fourth remote control signal, and the drone controls the third remote control signal. The signal and the fourth remote control signal are associated and stored. It is understandable that the above application scenario is only one application scenario of the remote control signal processing method shown in FIG. 2 to FIG. 4, and may also include other application scenarios, which is not limited in this embodiment.
本发明实施例提供一种遥控设备，用于执行对遥控信号的处理方法中的相应步骤。请参见图7，该遥控设备包括存储器701和处理器702；存储器701用于存储程序代码；处理器702调用程序代码，当程序代码被执行时，用于执行以下操作：The embodiment of the present invention provides a remote control device for executing corresponding steps in the method for processing remote control signals. Referring to Fig. 7, the remote control device includes a memory 701 and a processor 702; the memory 701 is used to store program code; the processor 702 calls the program code, and when the program code is executed, it is used to perform the following operations:
基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种；Collect remote control signals based on the remote control signal load, the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码；Perform channel coding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal, the first remote control signal includes a check code, and the second remote control signal does not include a check code;
将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台。The first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
在一种实施例中，处理器702在对所述遥控信号进行信道编码，得到第一遥控信号时，执行如下操作：In an embodiment, the processor 702 performs the following operations when performing channel coding on the remote control signal to obtain the first remote control signal:
对所述遥控信号进行信道编码，得到编码后的遥控信号；Channel coding the remote control signal to obtain an encoded remote control signal;
对所述编码后的遥控信号进行比特排序或者比特分割，得到处理后的遥控信号；Performing bit sorting or bit segmentation on the encoded remote control signal to obtain a processed remote control signal;
对所述处理后的遥控信号进行星座图调制，得到调制后的遥控信号；Performing constellation modulation on the processed remote control signal to obtain a modulated remote control signal;
对所述调制后的遥控信号进行时频域资源复用，得到所述第一遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the first remote control signal.
在一种实施例中，所述处理器702在对所述遥控信号进行信号调制，得到第二遥控信号时，执行如下操作：In an embodiment, the processor 702 performs the following operations when performing signal modulation on the remote control signal to obtain the second remote control signal:
对所述遥控信号进行信号调制，得到调制后的遥控信号；Signal modulation on the remote control signal to obtain a modulated remote control signal;
对所述调制后的遥控信号进行时频域资源复用，得到所述第二遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the second remote control signal.
在一种实施例中，所述处理器702在将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台时，执行如下操作：In an embodiment, the processor 702 performs the following operations when sending the first remote control signal and the second remote control signal to a movable platform through a digital system:
将所述第一遥控信号和所述第二遥控信号通过数字遥控链路发送给所述可移动平台。The first remote control signal and the second remote control signal are sent to the movable platform through a digital remote control link.
本发明实施例提供的遥控设备基于遥控信号负载采集遥控信号，对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码，将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台，可兼顾遥控信号的精确性和鲁棒性。The remote control device provided by the embodiment of the present invention collects a remote control signal based on the remote control signal load, performs channel coding on the remote control signal to obtain a first remote control signal, and performs signal modulation on the remote control signal to obtain a second remote control signal. The signal includes a check code, and the second remote control signal does not include a check code. The first remote control signal and the second remote control signal are sent to the mobile platform through a digital system, which can take into account the accuracy and robustness of the remote control signal. Awesome.
本发明实施例提供一种可移动平台，用于执行遥控信号的处理方法中的相应步骤。请参见图8，该可移动平台包括存储器801和处理器802；存储器801用于存储程序代码；处理器802调用程序代码，当程序代码被执行时，用于执行以下操作：The embodiment of the present invention provides a movable platform for executing corresponding steps in the remote control signal processing method. Referring to FIG. 8, the portable platform includes a memory 801 and a processor 802; the memory 801 is used to store program codes; the processor 802 calls the program codes, and when the program codes are executed, they are used to perform the following operations:
通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号；Receiving the first remote control signal and the second remote control signal sent by the remote control device through a digital system;
对所述第一遥控信号进行信道解码，得到第三遥控信号；Channel decoding the first remote control signal to obtain a third remote control signal;
对所述第二遥控信号进行信号解调，得到第四遥控信号；Signal demodulation on the second remote control signal to obtain a fourth remote control signal;
将所述第三遥控信号和所述第四遥控信号进行关联存储。The third remote control signal and the fourth remote control signal are associated and stored.
在一种实施例中，所述处理器802还执行如下操作：In an embodiment, the processor 802 further performs the following operations:
若未成功接收所述第一遥控信号或者对所述第一遥控信号解码失败，则对所述第二遥控信号进行信号解调，得到第四遥控信号；If the first remote control signal is not successfully received or the decoding of the first remote control signal fails, signal demodulation is performed on the second remote control signal to obtain a fourth remote control signal;
存储所述第四遥控信号。Store the fourth remote control signal.
在一种实施例中，所述处理器802将所述第三遥控信号和所述第四遥控信号进行关联存储之后，还执行如下操作：In an embodiment, after the processor 802 associates and stores the third remote control signal and the fourth remote control signal, it further performs the following operations:
获取当前业务需求；Obtain current business needs;
若当前业务需求为第一业务需求，则对所述第三遥控信号进行处理；If the current business demand is the first business demand, then process the third remote control signal;
若当前业务需求为第二业务需求，则对所述第四遥控信号进行处理。If the current service requirement is the second service requirement, the fourth remote control signal is processed.
在一种实施例中，所述第一业务需求为远距离传输或者高精度传输。In an embodiment, the first service requirement is long-distance transmission or high-precision transmission.
在一种实施例中，所述第二业务需求为低延时传输或者高频度传输。In an embodiment, the second service requirement is low-delay transmission or high-frequency transmission.
在一种实施例中，所述处理器802在对所述第一遥控信号进行信道解码，得到第三遥控信号时，执行如下操作：In an embodiment, the processor 802 performs the following operations when performing channel decoding on the first remote control signal to obtain the third remote control signal:
对所述第一遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Demultiplexing the first remote control signal in time-frequency domain resources to obtain a demultiplexed remote control signal;
对所述解复用后的遥控信号进行星座图解调，得到解调后的遥控信号；Performing constellation demodulation on the demultiplexed remote control signal to obtain a demodulated remote control signal;
对所述解调后的遥控信号进行比特重排，得到比特重排后的遥控信号；Perform bit rearrangement on the demodulated remote control signal to obtain a bit rearranged remote control signal;
对所述比特重排后的遥控信号进行信道解码，得到所述第三遥控信号。Channel decoding is performed on the remote control signal after the bit rearrangement to obtain the third remote control signal.
在一种实施例中，所述处理器802在对所述第二遥控信号进行信号解调，得到第四遥控信号时，执行如下操作：In an embodiment, the processor 802 performs the following operations when performing signal demodulation on the second remote control signal to obtain the fourth remote control signal:
对所述第二遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Performing time-frequency domain resource demultiplexing on the second remote control signal to obtain a demultiplexed remote control signal;
对所述解复用后的遥控信号进行信号解调，得到所述第四遥控信号。Perform signal demodulation on the demultiplexed remote control signal to obtain the fourth remote control signal.
在一种实施例中，所述处理器802在通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号时，执行如下操作：In an embodiment, the processor 802 performs the following operations when receiving the first remote control signal and the second remote control signal sent by the remote control device through the digital system:
通过数字遥控链路接收所述遥控设备发送的所述第一遥控信号和所述第二遥控信号。The first remote control signal and the second remote control signal sent by the remote control device are received through a digital remote control link.
本发明实施例提供的可移动平台通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号，对所述第一遥控信号进行信道解码，得到第三遥控信号，对所述第二遥控信号进行信号解调，得到第四遥控信号，将所述第三遥控信号和所述第四遥控信号进行关联存储，可兼顾遥控信号的精确性和鲁棒性。The mobile platform provided by the embodiment of the present invention receives a first remote control signal and a second remote control signal sent by a remote control device through a digital system, performs channel decoding on the first remote control signal, and obtains a third remote control signal, and controls the second remote control signal. The signal is demodulated to obtain a fourth remote control signal, and the third remote control signal and the fourth remote control signal are associated and stored, which can take into account the accuracy and robustness of the remote control signal.
本发明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图2、图3和图4所对应实施例中描述的相关功能，在此不再赘述。The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the implementation in the embodiments corresponding to FIGS. 2, 3, and 4 is The related functions described are not 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 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 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 equipped on the device, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card. , Flash Card, etc. 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 terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
以上所揭露的仅为本发明较佳实施例而已，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-disclosed are only the preferred embodiments of the present invention, which of course cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (36)

  1. 一种遥控信号的处理方法，其特征在于，包括：A remote control signal processing method, which is characterized in that it comprises:
    基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种；Collect remote control signals based on the remote control signal load, the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
    对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码；Perform channel coding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal, the first remote control signal includes a check code, and the second remote control signal does not include a check code;
    将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台。The first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  2. 如权利要求1所述的方法，其特征在于，所述对所述遥控信号进行信道编码得到第一遥控信号，包括：The method according to claim 1, wherein said performing channel coding on said remote control signal to obtain the first remote control signal comprises:
    对所述遥控信号进行信道编码，得到编码后的遥控信号；Channel coding the remote control signal to obtain an encoded remote control signal;
    对所述编码后的遥控信号进行比特排序或者比特分割，得到处理后的遥控信号；Performing bit sorting or bit segmentation on the encoded remote control signal to obtain a processed remote control signal;
    对所述处理后的遥控信号进行星座图调制，得到调制后的遥控信号；Performing constellation modulation on the processed remote control signal to obtain a modulated remote control signal;
    对所述调制后的遥控信号进行时频域资源复用，得到所述第一遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the first remote control signal.
  3. 如权利要求1所述的方法，其特征在于，所述对所述遥控信号进行信号调制得到第二遥控信号，包括：The method according to claim 1, wherein said performing signal modulation on said remote control signal to obtain a second remote control signal comprises:
    对所述遥控信号进行信号调制，得到调制后的遥控信号；Signal modulation on the remote control signal to obtain a modulated remote control signal;
    对所述调制后的遥控信号进行时频域资源复用，得到所述第二遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the second remote control signal.
  4. 如权利要求1-3任一项所述的方法，其特征在于，所述将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台，包括：The method according to any one of claims 1 to 3, wherein the sending the first remote control signal and the second remote control signal to a movable platform through a digital system comprises:
    将所述第一遥控信号和所述第二遥控信号通过数字遥控链路发送给所述可移动平台。The first remote control signal and the second remote control signal are sent to the movable platform through a digital remote control link.
  5. 一种遥控信号的处理方法，其特征在于，包括：A remote control signal processing method, which is characterized in that it comprises:
    通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号；Receiving the first remote control signal and the second remote control signal sent by the remote control device through a digital system;
    对所述第一遥控信号进行信道解码，得到第三遥控信号；Channel decoding the first remote control signal to obtain a third remote control signal;
    对所述第二遥控信号进行信号解调，得到第四遥控信号；Signal demodulation on the second remote control signal to obtain a fourth remote control signal;
    将所述第三遥控信号和所述第四遥控信号进行关联存储。The third remote control signal and the fourth remote control signal are associated and stored.
  6. 如权利要求5所述的方法，其特征在于，所述方法还包括：The method of claim 5, wherein the method further comprises:
    若未成功接收所述第一遥控信号或者对所述第一遥控信号解码失败，则对所述第二遥控信号进行信号解调，得到第四遥控信号；If the first remote control signal is not successfully received or the decoding of the first remote control signal fails, signal demodulation is performed on the second remote control signal to obtain a fourth remote control signal;
    存储所述第四遥控信号。Store the fourth remote control signal.
  7. 如权利要求5所述的方法，其特征在于，所述将所述第三遥控信号和所述第四遥控信号进行关联存储之后，还包括：The method according to claim 5, wherein after the associative storage of the third remote control signal and the fourth remote control signal, the method further comprises:
    获取当前业务需求；Obtain current business needs;
    若当前业务需求为第一业务需求，则对所述第三遥控信号进行处理；If the current business demand is the first business demand, then process the third remote control signal;
    若当前业务需求为第二业务需求，则对所述第四遥控信号进行处理。If the current service requirement is the second service requirement, the fourth remote control signal is processed.
  8. 如权利要求7所述的方法，其特征在于，所述第一业务需求为远距离传输或者高精度传输。The method according to claim 7, wherein the first service requirement is long-distance transmission or high-precision transmission.
  9. 如权利要求7所述的方法，其特征在于，所述第二业务需求为低延时传输或者高频度传输。The method according to claim 7, wherein the second service requirement is low-delay transmission or high-frequency transmission.
  10. 如权利要求5-9任一项所述的方法，其特征在于，所述对所述第一遥控信号进行信道解码，得到第三遥控信号，包括：9. The method according to any one of claims 5-9, wherein said performing channel decoding on said first remote control signal to obtain a third remote control signal comprises:
    对所述第一遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Demultiplexing the first remote control signal in time-frequency domain resources to obtain a demultiplexed remote control signal;
    对所述解复用后的遥控信号进行星座图解调，得到解调后的遥控信号；Performing constellation demodulation on the demultiplexed remote control signal to obtain a demodulated remote control signal;
    对所述解调后的遥控信号进行比特重排，得到比特重排后的遥控信号；Perform bit rearrangement on the demodulated remote control signal to obtain a bit rearranged remote control signal;
    对所述比特重排后的遥控信号进行信道解码，得到所述第三遥控信号。Channel decoding is performed on the remote control signal after the bit rearrangement to obtain the third remote control signal.
  11. 如权利要求5-9任一项所述的方法，其特征在于，所述对所述第二遥控信号进行信号解调，得到第四遥控信号，包括：The method according to any one of claims 5-9, wherein the signal demodulating the second remote control signal to obtain the fourth remote control signal comprises:
    对所述第二遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Performing time-frequency domain resource demultiplexing on the second remote control signal to obtain a demultiplexed remote control signal;
    对所述解复用后的遥控信号进行信号解调，得到所述第四遥控信号。Perform signal demodulation on the demultiplexed remote control signal to obtain the fourth remote control signal.
  12. 如权利要求5-11任一项所述的方法，其特征在于，所述通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号，包括：The method according to any one of claims 5-11, wherein the receiving the first remote control signal and the second remote control signal sent by a remote control device through a digital system comprises:
    通过数字遥控链路接收所述遥控设备发送的所述第一遥控信号和所述第二遥控信号。The first remote control signal and the second remote control signal sent by the remote control device are received through a digital remote control link.
  13. 一种遥控设备，其特征在于，包括存储器和处理器；A remote control device, characterized in that it comprises a memory and a processor;
    所述存储器用于存储程序代码；The memory is used to store program codes;
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行如下操作：The processor calls the program code, and when the program code is executed, it is used to perform the following operations:
    基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及杆量位宽中的一种或多种；Collect remote control signals based on the remote control signal load, the remote control signal load including one or more of the number of remote control channels, the frequency of the lever, and the width of the lever;
    对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码；Perform channel coding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal, the first remote control signal includes a check code, and the second remote control signal does not include a check code;
    将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台。The first remote control signal and the second remote control signal are sent to a movable platform through a digital system.
  14. 如权利要求13所述的遥控设备，其特征在于，所述处理器在对所述遥控信号进行信道编码，得到第一遥控信号时，执行如下操作：The remote control device according to claim 13, wherein the processor performs the following operations when channel coding the remote control signal to obtain the first remote control signal:
    对所述遥控信号进行信道编码，得到编码后的遥控信号；Channel coding the remote control signal to obtain an encoded remote control signal;
    对所述编码后的遥控信号进行比特排序或者比特分割，得到处理后的遥控信号；Performing bit sorting or bit segmentation on the encoded remote control signal to obtain a processed remote control signal;
    对所述处理后的遥控信号进行星座图调制，得到调制后的遥控信号；Performing constellation modulation on the processed remote control signal to obtain a modulated remote control signal;
    对所述调制后的遥控信号进行时频域资源复用，得到所述第一遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the first remote control signal.
  15. 如权利要求13所述的遥控设备，其特征在于，所述处理器在对所述遥控信号进行信号调制，得到第二遥控信号时，执行如下操作：The remote control device according to claim 13, wherein the processor performs the following operations when performing signal modulation on the remote control signal to obtain the second remote control signal:
    对所述遥控信号进行信号调制，得到调制后的遥控信号；Signal modulation on the remote control signal to obtain a modulated remote control signal;
    对所述调制后的遥控信号进行时频域资源复用，得到所述第二遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the second remote control signal.
  16. 如权利要求13-15任一项所述的遥控设备，其特征在于，所述处理器在将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台时，执行如下操作：The remote control device according to any one of claims 13-15, wherein the processor executes the following when sending the first remote control signal and the second remote control signal to a movable platform through a digital system operating:
    将所述第一遥控信号和所述第二遥控信号通过数字遥控链路发送给所述可移动平台。The first remote control signal and the second remote control signal are sent to the movable platform through a digital remote control link.
  17. 一种可移动平台，其特征在于，包括存储器和处理器；A movable platform, characterized in that it includes a memory and a processor;
    所述存储器用于存储程序代码；The memory is used to store program codes;
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行如下操作：The processor calls the program code, and when the program code is executed, it is used to perform the following operations:
    通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号；Receiving the first remote control signal and the second remote control signal sent by the remote control device through a digital system;
    对所述第一遥控信号进行信道解码，得到第三遥控信号；Channel decoding the first remote control signal to obtain a third remote control signal;
    对所述第二遥控信号进行信号解调，得到第四遥控信号；Signal demodulation on the second remote control signal to obtain a fourth remote control signal;
    将所述第三遥控信号和所述第四遥控信号进行关联存储。The third remote control signal and the fourth remote control signal are associated and stored.
  18. 如权利要求17所述的可移动平台，其特征在于，所述处理器还执行如下操作：The mobile platform of claim 17, wherein the processor further performs the following operations:
    若未成功接收所述第一遥控信号或者对所述第一遥控信号解码失败，则对所述第二遥控信号进行信号解调，得到第四遥控信号；If the first remote control signal is not successfully received or the decoding of the first remote control signal fails, signal demodulation is performed on the second remote control signal to obtain a fourth remote control signal;
    存储所述第四遥控信号。Store the fourth remote control signal.
  19. 如权利要求17所述的可移动平台，其特征在于，所述处理器将所述第三遥控信号和所述第四遥控信号进行关联存储之后，还执行如下操作：The mobile platform of claim 17, wherein after the processor associates the third remote control signal with the fourth remote control signal, the processor further performs the following operations:
    获取当前业务需求；Obtain current business needs;
    若当前业务需求为第一业务需求，则对所述第三遥控信号进行处理；If the current business demand is the first business demand, then process the third remote control signal;
    若当前业务需求为第二业务需求，则对所述第四遥控信号进行处理。If the current service requirement is the second service requirement, the fourth remote control signal is processed.
  20. 如权利要求19所述的可移动平台，其特征在于，所述第一业务需求为远距离传输或者高精度传输。The mobile platform according to claim 19, wherein the first service requirement is long-distance transmission or high-precision transmission.
  21. 如权利要求19所述的可移动平台，其特征在于，所述第二业务需求为低延时传输或者高频度传输。The mobile platform of claim 19, wherein the second service requirement is low-delay transmission or high-frequency transmission.
  22. 如权利要求17-21任一项所述的可移动平台，其特征在于，所述处理器在对所述第一遥控信号进行信道解码，得到第三遥控信号时，执行如下操作：22. The mobile platform according to any one of claims 17-21, wherein the processor performs the following operations when performing channel decoding on the first remote control signal to obtain the third remote control signal:
    对所述第一遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Demultiplexing the first remote control signal in time-frequency domain resources to obtain a demultiplexed remote control signal;
    对所述解复用后的遥控信号进行星座图解调，得到解调后的遥控信号；Performing constellation demodulation on the demultiplexed remote control signal to obtain a demodulated remote control signal;
    对所述解调后的遥控信号进行比特重排，得到比特重排后的遥控信号；Perform bit rearrangement on the demodulated remote control signal to obtain a bit rearranged remote control signal;
    对所述比特重排后的遥控信号进行信道解码，得到所述第三遥控信号。Channel decoding is performed on the remote control signal after the bit rearrangement to obtain the third remote control signal.
  23. 如权利要求17-21任一项所述的可移动平台，其特征在于，所述处理器在对所述第二遥控信号进行信号解调，得到第四遥控信号时，执行如下操作：22. The movable platform according to any one of claims 17-21, wherein the processor performs the following operations when performing signal demodulation on the second remote control signal to obtain the fourth remote control signal:
    对所述第二遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Performing time-frequency domain resource demultiplexing on the second remote control signal to obtain a demultiplexed remote control signal;
    对所述解复用后的遥控信号进行信号解调，得到所述第四遥控信号。Perform signal demodulation on the demultiplexed remote control signal to obtain the fourth remote control signal.
  24. 如权利要求17-23任一项所述的可移动平台，其特征在于，所述处理器在通过数字系统接收遥控设备发送的第一遥控信号和第二遥控信号时，执行如下操作：The movable platform according to any one of claims 17-23, wherein the processor performs the following operations when receiving the first remote control signal and the second remote control signal sent by the remote control device through a digital system:
    通过数字遥控链路接收所述遥控设备发送的所述第一遥控信号和所述第二遥控信号。The first remote control signal and the second remote control signal sent by the remote control device are received through a digital remote control link.
  25. 一种遥控系统，其特征在于，包括遥控设备和可移动平台；A remote control system, characterized in that it comprises a remote control device and a movable platform;
    所述遥控设备用于基于遥控信号负载采集遥控信号，所述遥控信号负载包括遥控通道数、杆量频率以及第一杆量位宽中的一种或多种；The remote control device is used to collect remote control signals based on a remote control signal load, and the remote control signal load includes one or more of the number of remote control channels, the frequency of the rod amount, and the first rod amount width;
    所述遥控设备还用于对所述遥控信号进行信道编码得到第一遥控信号，并对所述遥控信号进行信号调制得到第二遥控信号，所述第一遥控信号包括校验码，所述第二遥控信号不包括校验码；The remote control device is also used to perform channel encoding on the remote control signal to obtain a first remote control signal, and perform signal modulation on the remote control signal to obtain a second remote control signal. The first remote control signal includes a check code. 2. The remote control signal does not include the check code;
    所述遥控设备还用于将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台；The remote control device is also used to send the first remote control signal and the second remote control signal to a mobile platform through a digital system;
    所述可移动平台用于对所述第一遥控信号进行信道解码，得到第三遥控信号，对所述第二遥控信号进行信号解调，得到第四遥控信号，并将所述第三遥控信号和所述第四遥控信号进行关联存储。The movable platform is used to perform channel decoding on the first remote control signal to obtain a third remote control signal, perform signal demodulation on the second remote control signal to obtain a fourth remote control signal, and combine the third remote control signal And store in association with the fourth remote control signal.
  26. 如权利要求25所述的遥控系统，其特征在于，所述遥控设备在对所述遥控信号进行信道编码得到第一遥控信号时，执行如下操作：The remote control system according to claim 25, wherein the remote control device performs the following operations when channel coding the remote control signal to obtain the first remote control signal:
    对所述遥控信号进行信道编码，得到编码后的遥控信号；Channel coding the remote control signal to obtain an encoded remote control signal;
    对所述编码后的遥控信号进行比特排序或者比特分割，得到处理后的遥控信号；Performing bit sorting or bit segmentation on the encoded remote control signal to obtain a processed remote control signal;
    对所述处理后的遥控信号进行星座图调制，得到调制后的遥控信号；Performing constellation modulation on the processed remote control signal to obtain a modulated remote control signal;
    对所述调制后的遥控信号进行时频域资源复用，得到所述第一遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the first remote control signal.
  27. 如权利要求25所述的遥控系统，其特征在于，所述遥控设备在对所述遥控信号进行信号调制得到第二遥控信号时，执行如下操作：The remote control system according to claim 25, wherein the remote control device performs the following operations when signal modulating the remote control signal to obtain the second remote control signal:
    对所述遥控信号进行信号调制，得到调制后的遥控信号；Signal modulation on the remote control signal to obtain a modulated remote control signal;
    对所述调制后的遥控信号进行时频域资源复用，得到所述第二遥控信号。Time-frequency domain resource multiplexing is performed on the modulated remote control signal to obtain the second remote control signal.
  28. 如权利要求25-27任一项所述的遥控系统，其特征在于，所述遥控设备将所述第一遥控信号和所述第二遥控信号通过数字系统发送给可移动平台时，执行如下操作：The remote control system according to any one of claims 25-27, wherein when the remote control device sends the first remote control signal and the second remote control signal to a movable platform through a digital system, the following operations are performed :
    将所述第一遥控信号和所述第二遥控信号通过数字遥控链路发送给所述可移动平台。The first remote control signal and the second remote control signal are sent to the movable platform through a digital remote control link.
  29. 如权利要求25所述的遥控系统，其特征在于，所述可移动平台还用于执行如下操作：The remote control system according to claim 25, wherein the movable platform is further used to perform the following operations:
    若未成功接收所述第一遥控信号或者对所述第一遥控信号解码失败，则对所述第二遥控信号进行信号解调，得到第四遥控信号；If the first remote control signal is not successfully received or the decoding of the first remote control signal fails, signal demodulation is performed on the second remote control signal to obtain a fourth remote control signal;
    存储所述第四遥控信号。Store the fourth remote control signal.
  30. 如权利要求25所述的遥控系统，其特征在于，所述可移动平台将所述第三遥控信号和所述第四遥控信号进行关联存储之后，还执行如下操作：The remote control system according to claim 25, wherein after the movable platform associates and stores the third remote control signal and the fourth remote control signal, it further performs the following operations:
    获取当前业务需求；Obtain current business needs;
    若当前业务需求为第一业务需求，则对所述第三遥控信号进行处理；If the current business demand is the first business demand, then process the third remote control signal;
    若当前业务需求为第二业务需求，则对所述第四遥控信号进行处理。If the current service requirement is the second service requirement, the fourth remote control signal is processed.
  31. 如权利要求30所述的遥控系统，其特征在于，所述第一业务需求为远距离传输或者高精度传输。The remote control system according to claim 30, wherein the first service requirement is long-distance transmission or high-precision transmission.
  32. 如权利要求30所述的遥控系统，其特征在于，所述第二业务需求为低延时传输或者高频度传输。The remote control system according to claim 30, wherein the second service requirement is low-delay transmission or high-frequency transmission.
  33. 如权利要求25-32任一项所述的遥控系统，其特征在于，所述可移动平台在对所述第一遥控信号进行信道解码，得到第三遥控信号时，执行如下操作：The remote control system according to any one of claims 25-32, wherein the movable platform performs the following operations when channel decoding the first remote control signal to obtain the third remote control signal:
    对所述第一遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Demultiplexing the first remote control signal in time-frequency domain resources to obtain a demultiplexed remote control signal;
    对所述解复用后的遥控信号进行星座图解调，得到解调后的遥控信号；Performing constellation demodulation on the demultiplexed remote control signal to obtain a demodulated remote control signal;
    对所述解调后的遥控信号进行比特重排，得到比特重排后的遥控信号；Perform bit rearrangement on the demodulated remote control signal to obtain a bit rearranged remote control signal;
    对所述比特重排后的遥控信号进行信道解码，得到所述第三遥控信号。Channel decoding is performed on the remote control signal after the bit rearrangement to obtain the third remote control signal.
  34. 如权利要求25-32任一项所述的遥控系统，其特征在于，所述可移动平台在对所述第二遥控信号进行信号解调，得到第四遥控信号时，执行如下操 作：The remote control system according to any one of claims 25-32, wherein the movable platform performs the following operations when the second remote control signal is demodulated to obtain the fourth remote control signal:
    对所述第二遥控信号进行时频域资源解复用，得到解复用后的遥控信号；Performing time-frequency domain resource demultiplexing on the second remote control signal to obtain a demultiplexed remote control signal;
    对所述解复用后的遥控信号进行信号解调，得到所述第四遥控信号。Perform signal demodulation on the demultiplexed remote control signal to obtain the fourth remote control signal.
  35. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行如权利要求1-4中任一项所述的遥控信号的处理方法。A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program includes program instructions that, when executed by a processor, cause the processor to execute The remote control signal processing method described in any one of claims 1-4.
  36. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行如权利要求5-12中任一项所述的遥控信号的处理方法。A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program includes program instructions that, when executed by a processor, cause the processor to execute The remote control signal processing method described in any one of 5-12 is required.
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