CN112640343A

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Publication number: CN112640343A
Application number: CN202080004300.0A
Authority: CN
Inventors: 孟凡淦; 高建南; 张志鹏; 林星森
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2021-04-09
Also published as: WO2021217360A1

Abstract

The embodiment of the application provides a method and equipment for adjusting MCS at a sending end, an unmanned aerial vehicle and a storage medium. In the embodiment of the application, feedback information of whether retransmission operation is performed for multiple times is obtained; when the feedback information is negative response, updating the current link MCS into the MCS obtained by reducing the current service MCS by a plurality of gears; therefore, the current link MCS can be rapidly reduced, and as the link MCS is used for indicating the communication capacity of the downlink wireless data link, the encoding of the sensing data acquired by the sensor of the sending end can be controlled according to the updated link MCS to obtain new data to be sent, so that the downlink wireless data link can support the sending of the data; or, the new service MCS for sending the data to be sent may be determined according to the updated link MCS, so as to ensure that the data can be sent out smoothly by the link.

Description

MCS (modulation and coding scheme) adjusting method and device for sending end, unmanned aerial vehicle and storage medium

Technical Field

The present invention relates to the field of wireless communication technologies, and in particular, to a method and an apparatus for adjusting MCS of a transmitting end, an unmanned aerial vehicle, and a storage medium.

Background

In urban environments, there are a large number of wifi (WIreless network) and bluetooth devices operating in the ISM (Industrial Scientific Medical) frequency band, and these wifi and bluetooth devices may cause signal interference to devices such as an unmanned aerial vehicle (drone) also operating in the ISM frequency band. Meanwhile, in the production test and quality test scenes of the unmanned aerial vehicles, a plurality of unmanned aerial vehicles can work in the ISM frequency band, so that mutual interference among the unmanned aerial vehicles can be caused. These interferences will limit the performance of the unmanned aerial vehicle, such as image transmission, information downloading, flight remote control, and the like, and specifically may be to reduce the definition of image transmission, reduce the rate of information downloading, and prevent smooth flight remote control. And for sudden strong interference, the problems of image transmission jamming, even screen blacking, out of control and the like can be caused.

Disclosure of Invention

The invention provides a method and equipment for adjusting MCS at a sending end, an unmanned aerial vehicle and a storage medium, which are used for quickly adjusting MCS in interference to ensure the stability of a link.

The first aspect of the present invention is to provide a method for adjusting MCS of a transmitting end, including: sending current data to be sent to a receiving end through a downlink wireless data link according to the current service MCS; acquiring feedback information of whether the receiving end performs repeated retransmission operation or not in the process of sending the current data to be sent; when the feedback information of the repeated retransmission operation is negative response, updating the current link MCS to the MCS obtained by reducing the current service MCS by a plurality of gears, wherein the link MCS is used for indicating the communication capacity of the downlink wireless data link; controlling the encoding of the sensing data acquired by the sensor of the transmitting end according to the updated link MCS to obtain new data to be transmitted; or, determining a new service MCS for sending the new data to be sent according to the updated link MCS.

A second aspect of the present invention is to provide an MCS adjusting apparatus for a transmitting end, including: a memory, a processor, and a communications component, the memory to store a computer program; the communication component is used for sending the current data to be sent to the receiving end through the downlink wireless data link according to the current service MCS; acquiring feedback information of whether the receiving end performs repeated retransmission operation or not in the process of sending the current data to be sent; the processor is used for calling the computer program to realize the following steps: when the feedback information of the repeated retransmission operation is negative response, updating the current link MCS to the MCS obtained by reducing the current service MCS by a plurality of gears, wherein the link MCS is used for indicating the communication capacity of the downlink wireless data link; controlling the encoding of the sensing data acquired by the sensor of the transmitting end according to the updated link MCS to obtain new data to be transmitted; or, determining a new service MCS for sending the new data to be sent according to the updated link MCS.

A third aspect of the present invention is to provide an MCS adjustment apparatus for a transmitting end, including: the sending module is used for sending the current data to be sent to the receiving end through the downlink wireless data link according to the current service MCS; the acquisition module is used for acquiring feedback information of whether the receiving end performs repeated retransmission operation in the process of transmitting the current data to be transmitted; an adjusting module, configured to update a current link MCS to an MCS obtained by dropping the current service MCS by multiple steps when the feedback information of the multiple retransmission operations is a negative response, where the link MCS is used to indicate a communication capability of the downlink wireless data link; the coding module is used for controlling the coding of the sensing data acquired by the sensor of the sending end according to the updated link MCS so as to obtain new data to be sent; or, the determining module is configured to determine, according to the updated link MCS, a service MCS for transmitting new data to be transmitted.

A fourth aspect of the present invention is to provide an unmanned aerial vehicle, including: a body and the MCS adjusting apparatus of the transmitting end of the second aspect, the image processing apparatus being provided on the body.

A fifth aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium having stored therein program instructions for the method of the first aspect.

In the embodiment of the application, feedback information of whether the receiving end performs retransmission operation for multiple times in the process of sending the current data to be sent is obtained; when the feedback information is negative response, updating the current link MCS into the MCS obtained by reducing the current service MCS by a plurality of gears; therefore, the current link MCS can be rapidly reduced, and as the link MCS is used for indicating the communication capacity of the downlink wireless data link, the encoding of the sensing data acquired by the sensor of the sending end can be controlled according to the updated link MCS to obtain new data to be sent, so that the downlink wireless data link can support the sending of the data; or, a new service MCS for sending data to be sent may be determined according to the updated link MCS to ensure that the data can be sent out smoothly by the link, so that a situation that the data can be jammed is not easily caused, and problems such as image transmission jam are not easily caused.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a flowchart illustrating an MCS adjustment method of a transmitting end according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an MCS adjusting apparatus at a transmitting end according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an MCS adjusting device at a transmitting end according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In order to facilitate understanding of the technical solutions and technical effects of the present application, the following briefly describes the prior art:

the following problems easily occur in the case of an unmanned device in a strong interference environment (e.g., urban environment, environment with multiple unmanned planes): image transmission is blocked, even image transmission is lost, links are broken and out of control, information downloading speed fluctuates and the like.

When dealing with bursty interference, the existing MCS (Modulation and Coding Scheme) adaptive strategy cannot ensure link stability by quickly reducing MCS.

In addition, when the interference on the working channel disappears, the existing MCS adaptive strategy can not rapidly improve the MCS to fully utilize the channel capacity.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.

Fig. 1 is a flowchart illustrating an MCS adjustment method of a transmitting end according to an embodiment of the present invention; the method 100 provided by the embodiment of the present application can be executed by a flight device, for example, an unmanned aerial vehicle, and an image acquisition device, such as a camera, can be arranged on the unmanned aerial vehicle. The method 100 comprises the steps of:

101: and sending the current data to be sent to a receiving end through a downlink wireless data link according to the current service MCS.

102: and acquiring feedback information of whether the receiving end performs repeated retransmission operation or not in the process of sending the current data to be sent.

103: and when the feedback information of the repeated retransmission operation is negative response, updating the current link MCS to the MCS obtained by reducing the current service MCS by a plurality of gears, wherein the link MCS is used for indicating the communication capability of the downlink wireless data link.

104: and controlling the encoding of the sensing data acquired by the sensor at the transmitting end according to the updated link MCS to obtain new data to be transmitted. Or,

105: and determining a service MCS for transmitting new data to be transmitted according to the updated link MCS.

According to the MCS adjusting method of the sending end provided by the embodiment of the application, when a receiving end of a downlink wireless data link (which may be referred to as a downlink for short) has sudden interference, the scene is identified through feedback identification information of the downlink, and the gear of the MCS of the link is rapidly lowered, so that the anti-interference performance of the link is improved, and the probability that the link is interfered to influence the link breaking is reduced.

It should be noted that, the embodiment of the present application may be applied to an unmanned aerial vehicle, and may also be applied to other devices having an image transmission requirement in wireless communication, such as a base station, a monitoring device, and the like.

For other execution devices, when the unmanned aerial vehicle executes the embodiment of the application, the aerial image of the object can be shot, particularly, the purposeful aerial image can be shot, so that the aerial image can be viewed. In addition, the unmanned aerial vehicle has better flexibility and automation compared with other execution devices. And it can fly to a very harsh geographical environment to take images, which is not easily done by other execution devices.

The following is set forth in detail with respect to the above steps:

The traffic MCS may also be referred to as PHY _ MCS or scheduling MCS, which is MCS selected according to actual traffic (e.g., actual data amount) when actual data is scheduled (e.g., data transmission). The actual traffic includes, among other things, data from the application layer, signaling and protocol headers for the wireless system itself.

On the other hand, the link MCS, which may also be referred to as MAC _ MCS or maximum MCS, represents the maximum transmission capability of the current downlink wireless data link, and when downlink data (which may also be referred to as transmission data or transmission data) is transmitted using MAC _ MCS, the packet error rate of single transmission does not exceed 10%. The receiving end may be a device end for receiving data to be sent, such as a remote controller, and is configured to receive downlink data sent by the unmanned aerial vehicle. Wherein, the adjustment range of the link MCS is 0-30 grade.

It should be understood that, for the sending end, it may be an unmanned aerial vehicle, and may also be other sending devices, and for the sending end, in the case of initially sending data, the link MCS may be determined first, and may be determined according to the above manner, for example, the packet error rate of a single transmission does not exceed 10%. It should be further noted that, in the case of complete initialization, the sending end may determine or predict the transmission conditions corresponding to different environments according to the condition of the data sent before, and according to the current environment of the sending end, one of the multiple preset link MCSs may be selected as an initial link MCS, or several test data may be sent in advance according to the requirement to determine the current link MCS. After the data is normally transmitted, the current link MCS may be dynamically adjusted according to the situation of normally transmitting the data.

And after determining the link MCS, determining the service MCS. The traffic MCS is less than or equal to the link MCS. The determination method of the traffic MCS may be as described above, and all the determination methods may be determined by the transmitting end.

Further, a Transport Block (TB) of a different size is corresponding to each gear of the link MCS, and the size of the Transport Block is referred to as TBs (Transport Block size). In this embodiment, after receiving data of an application layer, such as a code stream of image transmission, an unmanned aerial vehicle fills a data packet header in the data of the application layer and then loads the data packet header into a transmission block, and for the transmission block to be sent, the constraint may be: (1) the size (TBS) of the transport block cannot be larger than the TBS corresponding to the MAC _ MCS; (2) and selecting a transport block with a proper size according to the data amount of the application layer, wherein the link MCS gear corresponding to the Transport Block Size (TBS) is PHY _ MCS.

For example, according to the foregoing, when the drone performs initialization to transmit data, the link MCS is determined according to that the packet error rate of a single transmission does not exceed 10%. The unmanned aerial vehicle can acquire an aerial image as data to be transmitted through an image acquisition device, which can also be called a sensor, such as a camera arranged on a cloud deck of the unmanned aerial vehicle, select a proper transmission block according to the size of the aerial image according to the mode, place the transmission block into the transmission block, and determine a service MCS according to the selected transmission block, wherein the service MCS is smaller than the link MCS. And the unmanned aerial vehicle sends the transmission block to the corresponding remote controller according to the service MCS.

It should be noted that before data to be transmitted is put into the transport block, image coding compression may be performed first, and then the data may be put into the transport block for transmission. After receiving the transmission block, the remote controller needs to decode and restore to obtain an image, and transmits the image to a display end for display, such as a mobile phone end matched with the remote controller.

If the decoding fails, the feedback information needs to be sent to the sending end to request the sending end to resend the data. Wherein, the sending of the feedback information may be implemented by HARQ (Hybrid Automatic Repeat Request).

The feedback information refers to information indicating whether to retransmit the data to be transmitted, such as ACK (acknowledgement information, i.e., other data to be transmitted can be continuously transmitted) or NACK (non-acknowledgement information, i.e., data to be transmitted needs to be retransmitted) in HARQ.

The multiple retransmission operation may be a consecutive multiple retransmission operation, e.g., two consecutive retransmission operations. The multiple retransmission operation may also be at least two retransmission operations, such as two retransmission operations.

For example, according to the foregoing, the unmanned aerial vehicle sends the transport block a to the remote controller, and the unmanned aerial vehicle receives NACK information sent by the remote controller, that is, needs to retransmit the transport block a for the first time, and then receives NACK information sent by the remote controller again, that is, needs to retransmit the transport block a for the second time, until ACK information sent by the remote controller is received, the unmanned aerial vehicle continues to send other next transport blocks. Or,

the unmanned aerial vehicle sends the transmission block A and the transmission block B to the remote controller, receives NACK information returned aiming at the transmission block A at first, and retransmits the transmission block A, and receives NACK information returned aiming at the transmission block B, and retransmits the transmission block B. And continuing to transmit other transmission blocks until the corresponding ACK information transmitted by the remote controller is received.

The descending multiple gears may be at least two gears, such as 3 gears, 4 gears, and so on. The updated link MCS is the current traffic MCS-multi-gear, e.g. the current traffic MCS-2-gear, or the current traffic MCS-3-gear, etc.

The feedback information being a negative acknowledgement means that NACK information is received.

For example, according to the foregoing, the drone transmits a transport block a and receives NACK information for the transport block a twice in succession. At this time, the drone updates the link MCS to the traffic MCS-3-20-3-17, or 20-2-18.

In addition, in order to more clearly record whether or not the retransmission operation is performed a plurality of times, the determination may be performed by counting. For example, recording is performed by the parameter rapid _ delta _ mcs, and if the feedback information is NACK, the rapid _ delta _ mcs is decremented by 1.53. And the unmanned aerial vehicle checks the accumulated value of rapid _ delta _ MCS every time the feedback information is received, and if rapid _ delta _ MCS < -3 and PHY _ MCS > -3 (ensuring that the link MCS is not negative) and (PHY _ MCS-3) < MAC _ MCS, the step of updating the current link MCS to the MCS obtained by lowering the current service MCS by a plurality of gears is executed.

It should be noted that the value 1.53 subtracted by the rapid _ delta _ MCS may also be selected from other values, such as 1.52, 1.51, etc., and the basic idea is that for the same transport block, if there are at least two retransmission operations, a down-shift of the link MCS is required, and the specific implementation manner is as described above. If the drone receives a large amount of ACK information, so that the MAC _ MCS is raised, then rapid _ delta _ MCS needs to be cleared. The specific MAC _ MCS up procedure will be described later.

In addition, in the process of adjusting the link MCS by the drone, the current link MCS may be smaller than the current service MCS (the current service MCS is not used for data to be transmitted but is a service MCS corresponding to the previous data to be transmitted, for example, when the drone transmits a data block a, the service MCS is 20, and when the drone receives NACK information and meets the condition of adjusting the link MCS, the link MCS is adjusted to 17, the adjusted link MCS: 17 is smaller than the previous service MCS:20, that is, the current service MCS, and when the link MCS is adjusted, the service MCS:20 is continuously adjusted, and then retransmission operation is performed), which indicates that the communication capability of the downlink is poor at this time. Then adjustments are more necessary. Specifically, when the feedback information of the multiple retransmission operations is a negative response, updating the current link MCS to an MCS obtained by reducing the current service MCS by multiple steps includes: and when the feedback information of the repeated retransmission operation is negative response and the current link MCS is smaller than the current service MCS, updating the current link MCS to the MCS obtained by lowering the current service MCS by a plurality of gears.

Since the foregoing has been explained, it is not described herein again, and only the execution condition at this time is that the adjusted current link MCS is smaller than the current service MCS (that is, the service MCS for transmitting the data to be transmitted for the last time in the process is taken as the current service MCS).

It should be noted that, for the above-described retransmission operations of the transport block a and the transport block B, the same applies here, and is not described again.

104: and controlling the encoding of the sensing data acquired by the sensor at the transmitting end according to the updated link MCS to obtain new data to be transmitted. Or

The sensing data refers to data collected by a sensor, such as image data, and may also be video data, but it should be understood that, for the video data, it is also necessary to transmit according to a transmission mode of the image data, such as splitting the video data into multiple frames of image data.

For example, as described above, the MCS is obtained by dropping a plurality of steps for the current service MCS after the link MCS is updated. In the process of actually transmitting a piece of data, the link MCS must be greater than or equal to the service MCS, so when data to be transmitted continues to be transmitted, the service MCS must be less than or equal to the updated link MCS, and thus, the service MCS needs to be relatively reduced. However, as can be seen from the foregoing, the service MCS is determined according to the size of the data volume, which means that the possibly reduced service MCS cannot bear subsequent data to be sent, for example, the service MCS is too small and the data to be sent is too large, so that the subsequent data to be sent may need to be re-encoded to obtain new data to be sent, so that the service MCS can bear the new data to be sent.

Specifically, controlling the encoding of the sensing data acquired by the sensor at the transmitting end according to the updated link MCS to obtain new data to be transmitted includes: determining a quantization parameter of sensing data acquired by a sensor according to the updated link MCS; and encoding the sensing data according to the quantization parameter to obtain new data to be transmitted.

The quantization parameter refers to a parameter for encoding and compressing the acquired data, such as a quantization parameter for encoding and compressing image data. Different link MCSs can correspond to different quantization parameters, that is, there is a corresponding relationship between the link MCSs and the quantization parameters, so that subsequent data to be sent can be sent smoothly. When the link MCS is smaller, the obtained corresponding quantization parameter code compressed data is also smaller.

For example, according to the foregoing, after thestep 103 is executed, the drone determines the corresponding quantization parameter after determining the updated link MCS, encodes and compresses the image data to be transmitted by using the quantization parameter, generates encoded data, and selects a corresponding transmission block to transmit to the remote controller. At this time, the traffic MCS is less than or equal to the updated link MCS. Alternatively, afterstep 103 is executed,step 105 is executed.

It should be noted that, after generating the encoded data and selecting the corresponding transport block, the corresponding service MCS may be selected, and the transport block may be transmitted according to the selected service MCS, where the selected service MCS is definitely smaller than the updated link MCS. Or, after generating the encoded data and selecting the corresponding transmission block, if the current service MCS is itself smaller than the updated link MCS, the transmission block may be directly transmitted according to the current service MCS without selecting the corresponding service MCS, and the current service MCS may satisfy the transmission block to be transmitted, and if not, the current service MCS may be adjusted to satisfy the transmission block to be transmitted, where the specific adjustment manner refers to the foregoing.

For example, as described above, since the traffic MCS needs to be smaller than or equal to the updated link MCS, in this case, the traffic MCS needs to be adjusted so that the MCS is equal to the updated link MCS, and data transmission can be performed.

In addition, a new service MCS for transmitting new data to be transmitted may also be determined according to the updated link MCS, including: determining an initial service MCS used for transmitting data at this time according to the data volume of the new data to be transmitted; and when the initial service MCS is larger than the updated link MCS, determining the service MCS for transmitting new data to be transmitted according to the updated link MCS.

For example, according to the foregoing, after the link MCS is updated by the drone, according to the manner set forth above, data to be sent this time, such as data a, is determined, normal data encoding compression is performed, a transmission block a corresponding to the data a is determined, and then the corresponding service MCS is determined as the initial service MCS for sending the data a this time. If the initial service MCS is greater than the updated link MCS, such as link 17, the transport block is sent with the updated link MCS, or the initial service MCS is updated to link 17 (i.e. the updated link MCS) to send the transport block A.

The transport block may also be sent with the initial traffic MCS if the initial traffic MCS is less than the updated link MCS.

Specifically, the method 100 may further include: and when the initial service MCS is smaller than the updated link MCS, determining the initial service MCS as the service MCS for transmitting new data to be transmitted.

Since the foregoing has been set forth, it is not described in detail herein.

In addition to the aforementioned fast link MCS reduction, the embodiments of the present application can also fast link MCS lifting.

Specifically, the method 100 further includes: acquiring the current signal-to-noise ratio of a downlink wireless data link; and when the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current link MCS is greater than or equal to a preset signal-to-noise ratio threshold, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

For the sending end, each link MCS corresponds to a signal-to-noise ratio, which may be referred to as a reference signal-to-noise ratio, and the signal-to-noise ratio may be preset data.

The preset signal-to-noise ratio threshold may be 3. The plurality of gears can be adjusted up to at least two gears, such as 3 gears or 4 gears.

For example, according to the foregoing, after receiving the transmission block, the remote controller may determine an snr (signal to NOISE ratio) carried by the transmission block according to the signal data carried by the transmission block, and may return to the drone in real time, and after receiving the snr of the downlink, the drone determines the snr corresponding to the current link MCS to be used as a reference snr, and compares the received snr with the reference snr, and when a difference between the received snr and the reference snr is greater than or equal to 3, the drone upshifts the current MAC _ MCS by 3, and clears the rapid _ delta _ MCS.

When the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current MCS is greater than or equal to the preset signal-to-noise ratio threshold, updating the current link MCS to an MCS obtained by adjusting a plurality of gears on the current link MCS, including: and when the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current MCS is greater than or equal to a preset signal-to-noise ratio threshold and the current link MCS is smaller than the current service MCS, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

Since the foregoing has been described, it is not described herein again, and only for illustration, when the current link MCS is shifted up according to the signal-to-noise ratio, a certain trigger condition may also be provided, for example, the current link MCS is smaller than the current service MCS, and the trigger condition has also been described above in detail, and is not described herein again.

It should be noted that, when the interference at the receiving end of the downlink disappears or avoids the interference, the sending end, for example, the drone uses the signal-to-noise ratio (SNR) of the downlink fed back by the remote controller in real time to determine whether the current MAC _ MCS needs to be quickly improved, so as to ensure that the downlink can provide a stable throughput rate.

In addition, the embodiment of the present application may also perform adjustment of the link MCS in the following manner:

specifically, the method 100 further includes: acquiring the packet error rate of the current data to be sent in the process of sending; when the current packet error rate is greater than or equal to a first preset packet error rate threshold and the current link MCS is greater than or equal to the current service MCS, updating the current link MCS into the MCS obtained by lowering the current link MCS by one gear; and when the current packet error rate is less than or equal to a second preset packet error rate threshold and the current link MCS is greater than or equal to the current service MCS, updating the current link MCS to the MCS obtained by adjusting one gear up of the current link MCS.

For example, according to the foregoing, when the current link MCS is greater than or equal to the traffic MCS, especially in the initial case, there may be a case where the current link MCS is greater than or equal to the traffic MCS. The current link MCS may not be adjusted first, or may be adjusted, and is greater than or equal to the traffic MCS, that is, the current traffic MCS. The drone may pass delta _ mcs as packet error rate. When MAC _ MCS > -PHY _ MCS, the drone calculates delta _ MCS according to whether the feedback information is ACK or NACK, and the process of calculating delta _ MCS subtracts 0.26 from delta _ MCS if it is NACK, and adds 0.028 to delta _ MCS if it is ACK. After receiving each feedback message, the unmanned aerial vehicle checks the accumulated value of delta _ MCS, and if the delta _ MCS is greater than 1, the MAC _ MCS is shifted up by one gear; if delta _ MCS < -1, the MAC _ MCS is lowered by one step. This may be followed by the aforementioned situation where the MAC _ MCS is smaller than the PHY _ MCS.

It should be noted that how to calculate delta _ mcs is basically to have a packet error rate of 10% for single transmission in downlink, so the values of 0.26 and 0.028 are not limited thereto, as long as the packet error rate is 10%.

In addition, in the foregoing, according to the snr, after the current link MCS is finally determined to be up-regulated, delta _ MCS is also cleared.

In addition, for P2MP (Point-to-Multiple Point) in the network topology, that is, a sending end may correspond to Multiple receiving ends, for example, an unmanned aerial vehicle may send data to Multiple remote controllers. In this scenario, the link MCS is adjusted as follows:

specifically, the method 100 further includes: sending corresponding current data to be sent to a corresponding receiving end through at least two downlink wireless data links according to the current service MCS; acquiring feedback information of whether a corresponding receiving end performs repeated retransmission operation or not in the process of sending current data to be sent; and when the feedback information corresponding to the repeated retransmission operation of any receiving end is negative response, updating the current link MCS into the MCS obtained by reducing the current service MCS by a plurality of gears.

It should be noted that, in this scenario, the sending end, such as the unmanned aerial vehicle, sends data, such as image data, to each remote controller, and the process of sending data to the corresponding remote controller is as described above, and is not described again. As described above, the drone receives the feedback information returned by each remote controller, and determines whether there is a retransmission operation in each downlink (i.e., there is one downlink between the drone and one remote controller, and there are multiple corresponding downlinks for multiple remote controllers) according to the foregoing, so as to adjust the link MCS.

In this scenario, the drone needs to take care of the worse side of the downlink, i.e. separately count the feedback information of multiple downlinks. If one of the downlinks needs to be adjusted downwards, the link MCS must be adjusted downwards, so that the link MCS of all the downlinks is the updated link MCS; the link MCS is only up-regulated as an updated link MCS for all downlinks if all of the multiple downlinks can up-regulate the MAC _ MCS.

Specifically, in this scenario, the process of adjusting the link MCS may be: the method 100 may further include: acquiring current signal-to-noise ratios of at least two downlink wireless data links; and when the difference between the current signal-to-noise ratio of at least two downlink wireless data links and the reference signal-to-noise ratio corresponding to the current link MCS is greater than or equal to a preset signal-to-noise ratio threshold, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

Since the foregoing has been set forth, further description is omitted herein.

Fig. 2 is a schematic structural diagram of an MCS adjusting apparatus at a transmitting end according to an embodiment of the present invention; the apparatus 200 may be applied to a flight device, such as an unmanned aerial vehicle, and the apparatus 200 may perform the MCS adjustment method of the transmitting end. Wherein the apparatus 200 comprises: a sendingmodule 201, an obtainingmodule 202, anadjusting module 203, anencoding module 204, and a determiningmodule 205. The following detailed description is directed to the functions of the various modules:

a sendingmodule 201, configured to send current data to be sent to a receiving end through a downlink wireless data link according to the current service MCS.

An obtainingmodule 202, configured to obtain feedback information of whether a receiving end performs multiple retransmission operations in a process of sending current data to be sent.

And the adjustingmodule 203 is configured to update the current link MCS to an MCS obtained by reducing the current service MCS by multiple gears when the feedback information of the multiple retransmission operations is a negative response, where the link MCS is used to indicate a communication capability of the downlink wireless data link.

And theencoding module 204 is configured to control encoding of the sensing data acquired by the sensor at the sending end according to the updated link MCS to obtain new data to be sent. Or,

a determiningmodule 205, configured to determine a service MCS for transmitting new data to be transmitted according to the updated link MCS.

It should be noted that, for the parts not described in detail in this embodiment, reference may be made to the related description of the embodiment shown in the MCS adjustment method of the transmitting end, and details are not described herein again.

In one possible design, the structure of the MCS adjusting apparatus 200 of the transmitting end shown in fig. 2 may be implemented as an electronic device, which may be an MCS adjusting device of the transmitting end, such as an unmanned aerial vehicle device or a processing device disposed on an unmanned aerial vehicle. As shown in fig. 3, the MCS adjusting apparatus 300 of the transmitting end may include: one ormore processors 301, one ormore memories 302, and acommunication component 303. Thememory 302 is used to store a program that supports the electronic device to execute the MCS adjusting method of the transmitting end provided in the embodiment shown in fig. 1. Theprocessor 301 of which is configured to execute programs stored in thememory 302. In particular, the program comprises one or more computer instructions, wherein the one or more computer instructions, when executed by theprocessor 301, enable the following steps to be performed:

aprocessor 301 for invoking a computer program stored in thememory 302 to implement the steps of: when the feedback information of the repeated retransmission operation is negative response, updating the current link MCS into the MCS obtained by reducing the current service MCS by a plurality of gears, wherein the link MCS is used for indicating the communication capacity of the downlink wireless data link; controlling the encoding of the sensing data acquired by the sensor of the sending end according to the updated link MCS to obtain new data to be sent; or, determining a new service MCS for transmitting the new data to be transmitted according to the updated link MCS.

Acommunication component 303, configured to send current data to be sent to a receiving end through a downlink wireless data link according to a current service MCS; and acquiring feedback information of whether the receiving end performs repeated retransmission operation or not in the process of sending the current data to be sent.

Wherein the multiple retransmission operation is a double retransmission operation.

Wherein the multiple retransmission operation is a continuous multiple retransmission operation.

The sensing data collected by the sensor comprises image data.

Specifically, theprocessor 301 is specifically configured to: and when the feedback information of the repeated retransmission operation is negative response and the current link MCS is smaller than the current service MCS, updating the current link MCS to the MCS obtained by lowering the current service MCS by a plurality of gears.

Further, theprocessor 301 is further configured to: acquiring the current signal-to-noise ratio of a downlink wireless data link; and when the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current link MCS is greater than or equal to a preset signal-to-noise ratio threshold, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

Specifically, theprocessor 301 is specifically configured to: and when the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current MCS is greater than or equal to the preset signal-to-noise ratio threshold and the current link MCS is smaller than the current service MCS, updating the current link MCS to the MC obtained by adjusting a plurality of gears on the current link MCS.

Further, theprocessor 301 is further configured to: acquiring the packet error rate of the current data to be sent in the process of sending; when the current packet error rate is greater than or equal to a first preset packet error rate threshold and the current link MCS is greater than or equal to the current service MCS, updating the current link MCS into the MCS obtained by lowering the current link MCS by one gear; and when the current packet error rate is less than or equal to a second preset packet error rate threshold and the current link MCS is greater than or equal to the current service MCS, updating the current link MCS to the MCS obtained by adjusting one gear up of the current link MCS.

Further, theprocessor 301 is further configured to: determining a quantization parameter of sensing data acquired by a sensor according to the updated link MCS; and encoding the sensing data according to the quantization parameter to obtain new data to be transmitted.

Specifically, theprocessor 301 is specifically configured to: determining an initial service MCS used for transmitting data at this time according to the data volume of the new data to be transmitted; and when the initial service MCS is larger than the updated link MCS, determining the service MCS for transmitting new data to be transmitted according to the updated link MCS.

Further, theprocessor 301 is further configured to: and when the initial service MCS is smaller than the updated link MCS, determining the initial service MCS as the service MCS for transmitting new data to be transmitted.

The plurality of gears are three gears.

Further, thecommunication component 303 is further configured to: sending corresponding current data to be sent to a corresponding receiving end through at least two downlink wireless data links according to the current service MCS; acquiring feedback information of whether a corresponding receiving end performs repeated retransmission operation or not in the process of sending current data to be sent;processor 301, further configured to: and when the feedback information corresponding to the repeated retransmission operation of any receiving end is negative response, updating the current link MCS into the MCS obtained by reducing the current service MCS by a plurality of gears.

Further, theprocessor 301 is further configured to: acquiring current signal-to-noise ratios of at least two downlink wireless data links; and when the difference between the current signal-to-noise ratios of the at least two downlink wireless data links and the reference signal-to-noise ratio corresponding to the current link MCS is greater than or equal to a preset signal-to-noise ratio threshold, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the method in fig. 1.

The embodiment of the invention provides an unmanned aerial vehicle; specifically, this unmanned aerial vehicle includes: the apparatus body and the MCS adjusting device of the transmitting end shown in fig. 3 are provided on the apparatus body.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed correlation detection apparatus (e.g., IMU) and method may be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting MCS at a transmitting end, comprising:

sending current data to be sent to a receiving end through a downlink wireless data link according to the current service MCS;

acquiring feedback information of whether the receiving end performs repeated retransmission operation or not in the process of sending the current data to be sent;

when the feedback information of the repeated retransmission operation is negative response, updating the current link MCS to the MCS obtained by reducing the current service MCS by a plurality of gears, wherein the link MCS is used for indicating the communication capacity of the downlink wireless data link;

controlling the encoding of the sensing data acquired by the sensor of the transmitting end according to the updated link MCS to obtain new data to be transmitted; or,

and determining a service MCS for sending new data to be sent according to the updated link MCS.

2. The method of claim 1, wherein the multiple retransmission operation is a two retransmission operation.

3. The method according to claim 1 or 2, wherein the multiple retransmission operation is a consecutive multiple retransmission operation.

4. The method of any one of claims 1-3, wherein the sensory data collected by the sensor comprises image data.

5. The method according to any of claims 1-4, wherein when the feedback information of the multiple retransmission operations is negative acknowledgement, updating the current link MCS to the MCS of the current traffic MCS reduced by multiple steps, comprises:

and when the feedback information of the repeated retransmission operation is negative response and the current link MCS is smaller than the current service MCS, updating the current link MCS to the MCS obtained by descending the current service MCS by a plurality of gears.

6. The method according to any one of claims 1-5, further comprising:

acquiring the current signal-to-noise ratio of a downlink wireless data link;

and when the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current link MCS is greater than or equal to a preset signal-to-noise ratio threshold, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

7. The method of claim 6, wherein the updating the current link MCS to the MCS adjusted by a plurality of steps on the current link MCS when the difference between the current SNR and the reference SNR corresponding to the current MCS is greater than or equal to a preset SNR threshold comprises:

and when the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current MCS is greater than or equal to a preset signal-to-noise ratio threshold and the current link MCS is smaller than the current service MCS, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

8. The method according to claim 5 or 7, characterized in that the method further comprises:

acquiring the packet error rate of the current data to be sent in the process of sending;

when the current packet error rate is greater than or equal to a first preset packet error rate threshold and the current link MCS is greater than or equal to the current service MCS, updating the current link MCS to the MCS obtained by lowering the current link MCS by one gear;

and when the current packet error rate is less than or equal to a second preset packet error rate threshold and the current link MCS is greater than or equal to the current service MCS, updating the current link MCS to the MCS obtained by adjusting one gear up of the current link MCS.

9. The method according to any one of claims 1 to 8, wherein the controlling, according to the updated link MCS, encoding the sensing data collected by the sensor at the transmitting end to obtain new data to be transmitted includes:

determining a quantization parameter of sensing data acquired by a sensor according to the updated link MCS;

and coding the sensing data according to the quantization parameter to obtain new data to be sent.

10. The method according to any of claims 1-8, wherein the determining the traffic MCS for transmitting new data to be transmitted according to the updated link MCS comprises:

determining an initial service MCS used for the data to be transmitted according to the data volume of the new data to be transmitted;

and when the initial service MCS is larger than the updated link MCS, determining a service MCS for transmitting new data to be transmitted according to the updated link MCS.

11. The method of claim 10, further comprising:

and when the initial service MCS is smaller than the updated link MCS, determining the initial service MCS as a service MCS for sending new data to be sent.

12. The method of claim 1 or 6, wherein the plurality of gears are three gears.

13. The method according to any one of claims 1-12, further comprising:

sending corresponding current data to be sent to a corresponding receiving end through at least two downlink wireless data links according to the current service MCS;

acquiring feedback information of whether the corresponding receiving end performs repeated retransmission operation or not in the process of sending the current data to be sent;

and when the feedback information of the multiple retransmission operations of any corresponding receiving end is negative response, updating the current link MCS to the MCS obtained by descending the current service MCS by a plurality of gears.

14. The method of claim 13, further comprising:

acquiring current signal-to-noise ratios of at least two downlink wireless data links;

and when the difference between the current signal-to-noise ratio of at least two downlink wireless data links and the reference signal-to-noise ratio corresponding to the current link MCS is greater than or equal to a preset signal-to-noise ratio threshold, updating the current link MCS to the MCS obtained by adjusting a plurality of gears on the current link MCS.

15. An MCS adjusting apparatus of a transmitting end, comprising: a memory, a processor, and a communications component, the memory to store a computer program;

the communication component to:

the processor is used for calling the computer program to realize the following steps:

16. The apparatus of claim 15, wherein the multiple retransmission operation is a two retransmission operation.

17. The apparatus according to claim 15 or 16, wherein the multiple retransmission operation is a consecutive multiple retransmission operation.

18. The apparatus of any of claims 15-17, wherein the sensory data collected by the sensor comprises image data.

19. The device according to any of claims 15-18, wherein the processor is specifically configured to:

20. The apparatus according to any of claims 15-19, wherein the processor is further configured to:

acquiring the current signal-to-noise ratio of a downlink wireless data link;

21. The device of claim 20, wherein the processor is specifically configured to:

and when the difference between the current signal-to-noise ratio and the reference signal-to-noise ratio corresponding to the current MCS is greater than or equal to a preset signal-to-noise ratio threshold and the current link MCS is smaller than the current service MCS, updating the current link MCS to the MC obtained by adjusting a plurality of gears on the current link MCS.

22. The apparatus of claim 19 or 21, wherein the processor is further configured to:

23. The apparatus according to any of claims 15-22, wherein the processor is further configured to:

24. The device according to any of claims 15-22, wherein the processor is specifically configured to:

25. The device of claim 24, wherein the processor is further configured to:

26. The apparatus of claim 15 or 20, wherein the plurality of gears is three gears.

27. The device of any of claims 15-26, wherein the communications component is further configured to: sending corresponding current data to be sent to a corresponding receiving end through at least two downlink wireless data links according to the current service MCS;

the processor is further configured to: and when the feedback information of the multiple retransmission operations of any corresponding receiving end is negative response, updating the current link MCS to the MCS obtained by descending the current service MCS by a plurality of gears.

28. The apparatus of claim 27, wherein the processor is further configured to: acquiring current signal-to-noise ratios of at least two downlink wireless data links;

29. An unmanned aerial vehicle, comprising: the transmitter apparatus according to any of claims 15 to 28, wherein the MCS adjuster is disposed on the apparatus body.

30. A computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the MCS adjusting method of the transmitting end according to any one of claims 1 to 14.