WO2021217347A1 - Communication method and apparatus, and unmanned aerial vehicle - Google Patents

Abstract

The present application provides a communication method and apparatus, and an unmanned aerial vehicle. Said method comprises: acquiring communication quality parameters of a plurality of frequency points in a preset working frequency band of a communication link from a sending end to a receiving end (101); according to the communication quality parameter of a reference frequency point among the plurality of frequency points, determining a target communication quality parameter range (102); determining, from the plurality of frequency points, a target frequency point of which the communication quality parameter is within the target communication quality parameter range (103); and controlling the sending end to work at the target frequency point, so as to send information to the receiving end (104). The present application can ensure the communication quality when the target frequency point is used to send information.

Description

Communication method, device and unmanned aerial vehicle Technical field

This application relates to the field of wireless communication technology, and in particular to a communication method, device and unmanned aerial vehicle.

Background technique

In an urban environment, there are a large number of Wi-Fi (Wireless Fidelity, wireless fidelity) and Bluetooth devices working on the ISM (Industrial Scientific Medical) frequency band. These Wi-Fi and Bluetooth devices will also work on ISM. The movable platform on the frequency band causes signal interference. In a multi-machine environment such as production testing and quality testing, there are mutual interferences between multiple movable platforms. These interferences will limit the remote control and image transmission performance of the mobile platform. For example, the remote control is not smooth and the clarity of image transmission is reduced. For sudden strong interference, it may cause image transmission jams or even black screens, loss of control, etc.

Summary of the invention

The embodiments of the present application provide a communication method, device, and unmanned aerial vehicle to improve the communication quality of a mobile platform.

On the one hand, an embodiment of the present application discloses a communication method, including:

Acquiring communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end;

Determining a target communication quality parameter range according to the communication quality parameter of a reference frequency point among the multiple frequency points;

Determining a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points;

Controlling the sending end to work at the target frequency point to send information to the receiving end.

On the other hand, an embodiment of the present application also discloses a communication device. The device includes a processor, a memory, and a computer program that is stored on the memory and can run on the processor, and the processor executes all Used when describing computer programs:

Acquiring communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end;

Determining a target communication quality parameter range according to the communication quality parameter of a reference frequency point among the multiple frequency points;

Determining a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points;

Controlling the sending end to work at the target frequency point to send information to the receiving end.

On the other hand, an embodiment of the present application also discloses a drone, which includes the aforementioned communication device.

In the embodiment of the present application, the communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the transmitting end to the receiving end are acquired; according to the communication quality parameters of the reference frequency point among the multiple frequency points Determine the target communication quality parameter range; determine the target frequency point of the communication quality parameter within the target communication quality parameter range from the multiple frequency points; control the sending end to work at the target frequency point to provide The receiving end sends information. This application can determine the target communication quality parameter range for the communication quality parameter of each frequency point, so that the target communication quality parameter range is the dynamic range related to the communication quality parameter of each frequency point, so that the determined target communication quality parameter range reflects real-time Communication quality, the target frequency determined according to the real-time communication quality is a frequency with higher current communication quality, so that the communication quality when the target frequency is used to send information can be guaranteed.

The above description is only an overview of the technical solution of this application. In order to understand the technical means of this application more clearly, it can be implemented in accordance with the content of the specification, and in order to make the above and other purposes, features and advantages of this application more obvious and understandable. , The specific implementations of this application are cited below.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 shows a flow chart of the steps of a communication method in the first embodiment of the present application;

Figure 2 shows a flow chart of the steps of a communication method in the second embodiment of the present application;

Figure 3 shows a flow chart of the steps of a communication method in real-time example 3 of the present application;

Fig. 4 shows a flow chart of the steps of a communication method in real-time example 4 of the present application;

Fig. 5 shows a structural block diagram of a communication device in real-time example 5 of the present application.

Specific embodiment

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The mobile platform and the remote control device are connected through wireless communication, for example, Wi-Fi, Bluetooth, etc. The uplink communication channel from the remote control to the mobile platform is an uplink narrowband (bandwidth 1.4MHz or 3MHz). Before the remote control device sends a wireless signal to the mobile platform, it needs to select the frequency point to be used for sending the wireless signal from the frequency points issued by the mobile platform.

The steps for the mobile platform to determine the frequency point set mainly include: first, the physical layer of the mobile platform reports the measured uplink noise parameters of each frequency point to the protocol layer of the mobile platform, where the uplink noise parameter can be the uplink noise power; Then, the protocol layer selects the frequency points satisfying the conditions of the uplink noise parameters from each frequency point according to a certain strategy as the frequency point set; finally, the movable platform sends the frequency point set to the remote control device.

Therefore, how to ensure that the communication quality of each frequency point in the frequency point concentration is high is a problem that needs to be solved urgently.

This solution enables the adaptive adjustment strategy of frequency points, which can effectively improve the anti-interference performance of the uplink of the mobile platform in interference environments (such as urban environments, multi-machine environments), and improve sports performance and user experience.

The following describes in detail a communication method, device and unmanned aerial vehicle provided by the present application by listing several specific embodiments.

1, it shows a flow chart of the steps of a communication method according to Embodiment 1 of the present application, which may specifically include the following steps:

Step 101: Obtain communication quality parameters of multiple frequency points in a preset working frequency band of the communication link from the sending end to the receiving end.

Wherein, the working frequency band may be an available working frequency band of a 5.8G or 2.4G consumer electronic product divided according to a communication protocol specification.

Among them, the communication between the sending end and the receiving end is wireless communication, so the communication link between the sending end and the receiving end is a wireless link, and the preset working frequency band of the wireless link is composed of multiple frequency points. The frequency interval between points is constant, and the frequency interval is usually a small value. For example, the frequency interval can be 2MHZ. For the preset operating frequency range 1008MHZ to 1066MHZ, it includes 60 frequency points with a frequency interval of 2MHZ: a frequency of 1008MHZ, a frequency of 1010MHZ, a frequency of 1012MHZ, …, the frequency of 1066MHZ.

The communication quality parameter of a frequency point is used to indicate the communication quality of the frequency point, including but not limited to: signal-to-noise ratio, packet error rate, and interference signal power spectral density. The communication quality of the frequency point can be measured in the actual communication process. For example, for the signal-to-noise ratio, it is necessary to measure the signal power and noise power received by the receiving end when the sender sends information to the receiving end, and calculate the ratio of signal power to noise power; for the packet error rate, statistics need to be performed through this frequency point During communication, the number of data packets received by the receiving end and the number of error packets, and the ratio of the number of error packets to the number of data packets is calculated to obtain the packet error rate; for the interference signal power spectrum density, it needs to be from the received data The noise data is extracted from it, and the power spectrum density of the received interference signal is measured.

Step 102: Determine a target communication quality parameter range according to the communication quality parameter of a reference frequency point among the multiple frequency points.

There may be one or more reference frequency points. For example, the reference frequency point with the best communication quality parameter and/or the reference frequency point with the worst communication quality parameter. The reference frequency point with the best communication quality parameter, the reference frequency point with the worst communication quality parameter, and the reference frequency point with the communication quality parameter in the middle are any of the three.

The communication quality parameter is used to characterize the quality of communication. Better communication quality can achieve high-quality communication transmission, while poor communication quality cannot satisfy high-quality communication transmission.

Among them, communication quality parameters are usually divided into positive parameters and negative parameters. The larger the positive parameter, the better the communication quality, the smaller the positive parameter, the worse the communication quality; the larger the negative parameter, the worse the communication quality. The smaller the direction parameter, the better the communication quality. For example, the signal-to-noise ratio is a positive parameter: the larger the signal-to-noise ratio, the better the communication quality, the smaller the signal-to-noise ratio, the worse the communication quality; the packet error rate and the interference signal power spectral density are negative parameters: the higher the packet error rate Larger means the worse the communication quality, and the smaller the packet error rate, the better the communication quality; the larger the interference signal power spectrum density IPSD, the worse the communication quality, and the smaller the interference signal power spectrum density means the better the communication quality.

The target communication quality parameter range is related to the communication quality parameter of the frequency point, and the frequency point where the communication quality parameter is within the target communication quality parameter range usually indicates that the communication quality of the frequency point is better. For example, if the communication quality parameter of the frequency point is a positive parameter, the target communication quality parameter range can be the value range corresponding to the larger communication quality parameter; if the communication quality parameter of the frequency point is a negative parameter, the target communication quality The parameter range may be a value range corresponding to a smaller communication quality parameter.

In an example, the target communication quality parameter range may be a range determined by the minimum value. When the communication quality parameter is a forward parameter, the minimum value may be a smaller communication quality parameter among the communication quality parameters of the frequency point, and the smaller communication quality parameter may be a communication quality parameter other than the maximum communication quality parameter. For example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1<SNR2<SNR3<SNR4< SNR5, so that one of the smaller signal-to-noise ratios SNR3 can be directly used as the minimum value of the target communication quality parameter range, that is, it is determined that the target communication quality parameter range is greater than or equal to SNR3.

When the communication quality parameter is a forward parameter, the minimum value may also be the sum of a smaller communication quality parameter among the communication quality parameters of the frequency point and the preset parameter threshold. For example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1<SNR2<SNR3<SNR4< SNR5, one of the smaller signal-to-noise ratios SNR2 can be used as the reference signal-to-noise ratio, and the sum of the reference signal-to-noise ratio SNR2 and the preset signal-to-noise ratio PSNR can be used as the minimum value of the target communication quality parameter range, that is, to determine the target communication The quality parameter range is greater than or equal to SNR2+PSNR, where the preset signal-to-noise ratio is the preset parameter threshold.

When the communication quality parameter is a forward parameter, the minimum value may also be less than or equal to the maximum communication quality parameter in the communication quality parameters of each frequency point, but different from the communication quality parameter of any frequency point. For example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1<SNR2<SNR3<SNR4< SNR5, so that the value SNR6 between SNR4 and the maximum signal-to-noise ratio SNR5 can be taken as the minimum value, that is, the range of the target communication quality parameter is determined to be greater than or equal to SNR6.

In another example, the target communication quality parameter range may be a value range determined by the maximum value. When the communication quality parameter is a negative parameter, the maximum value may be the larger communication quality parameter among the communication quality parameters of each frequency point, and the larger communication quality parameter may be a communication quality parameter other than the smallest communication quality parameter. For example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral density is IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, and IPSD1>IPSD2> IPSD3>IPSD4>IPSD5, so that one of the larger interference signal power spectral density IPSD2 can be directly used as the maximum value of the target communication quality parameter range to determine that the target communication quality parameter range is less than or equal to IPSD2.

When the communication quality parameter is a negative parameter, the maximum value may also be the difference between a larger communication quality parameter in the communication quality parameters of each frequency point and the preset parameter threshold. For example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral density is IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, and IPSD1>IPSD2> IPSD3>IPSD4>IPSD5, so that one of the larger interference signal power spectral density IPSD2 can be used as the reference interference signal power spectral density, and the difference between the reference interference signal power spectral density IPSD2 and the preset interference signal power spectral density PIPSD can be used as the target communication The maximum value of the quality parameter range, that is, it is determined that the target communication quality parameter range is less than or equal to IPSD2-PIPSD, where the preset interference signal power spectral density is the preset parameter threshold.

When the communication quality parameter is a negative parameter, the maximum value may also be greater than or equal to the minimum communication quality parameter in the communication quality parameters of each frequency point, but different from the communication quality parameter of any frequency point. For example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral density is IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, and IPSD1>IPSD2> IPSD3>IPSD4>IPSD5, so that the value IPSD6 between the interference signal power spectral density IPSD1 and IPSD2 can be taken as the maximum value, that is, the range of the target communication quality parameter is determined to be less than or equal to IPSD6.

It can be understood that the target communication quality parameter range is used to filter out frequency points with poor communication quality parameters.

Step 103: Determine a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points.

Specifically, for each frequency point in the preset working frequency band, it is determined whether the communication quality parameter of the frequency point is within the target communication quality parameter range, and if it is, the frequency point is determined as the target frequency point; if not, it is determined This frequency point is not the target frequency point.

In an example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, respectively, and the target communication quality parameter The range is greater than or equal to SNR3, and SNR1<SNR2<SNR3<SNR4<SNR5, then the target frequency points are FP3, FP4, and FP5.

In another example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, respectively, and the target communication quality The parameter range is greater than or equal to SNR2+PSNR, and SNR1<SNR2+PSNR, SNR2<SNR2+PSNR, SNR3>SNR2+PSNR, SNR4>SNR2+PSNR and SNR5>SNR2+PSNR, then the target frequency points are FP3, FP4, and FP5.

In another example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, respectively, and the target communication quality The parameter range is greater than or equal to SNR6, and SNR1<SNR2<SNR3<SNR4<SNR6<SNR5, then the target frequency point is FP5.

In another example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral densities are IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, respectively. And the target communication quality parameter range is less than or equal to IPSD2, and IPSD1>IPSD2>IPSD3>IPSD4>IPSD5, then the target frequency points are FP2, FP3, FP4, and FP5.

In another example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral densities are IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, respectively. And the target communication quality parameter range is less than or equal to IPSD2-PIPSD, and IPSD1>IPSD2-PIPSD, and IPSD2>IPSD2-PIPSD, and IPSD3>IPSD2-PIPSD, and IPSD4<IPSD2-PIPSD, and IPSD5<IPSD2-PIPSD, then The target frequency points are FP4 and FP5.

In another example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral densities are IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, respectively. And the target communication quality parameter range is less than or equal to IPSD6, and IPSD1>IPSD6>IPSD2>IPSD3>IPSD4>IPSD5, then the target frequency points are IPSD2, IPSD3, IPSD4, and IPSD5.

Step 104: Control the sending end to work at the target frequency point to send information to the receiving end.

Specifically, the target frequency point can be sent to the sending end. When there is only one target frequency point, the sending end judges whether the target frequency point is occupied, and if it is not occupied, it can send information to the receiving end through the target frequency point; if If it is occupied, the sending end needs to wait for the target frequency to be released before sending information to the receiving end through the target frequency. When there are multiple target frequency points, the sending end selects an unoccupied frequency point from the multiple target frequency points, that is, an idle frequency point, and sends information to the receiving end through the idle frequency point; if there is no idle frequency point , You need to wait for a frequency point to be released as an idle frequency point, and then send information to the receiving end through the idle frequency point.

The sent information includes, but is not limited to: information used to control the receiving end, notification information used to notify the receiving end, and content information used to send to the receiving end.

In the embodiment of the present application, the communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the transmitting end to the receiving end are acquired; according to the communication quality parameters of the reference frequency point among the multiple frequency points Determine the target communication quality parameter range; determine the target frequency point of the communication quality parameter within the target communication quality parameter range from the multiple frequency points; control the sending end to work at the target frequency point to provide The receiving end sends information. This application can determine the target communication quality parameter range for the communication quality parameter of each frequency point, so that the target communication quality parameter range is the dynamic range related to the communication quality parameter of each frequency point, so that the determined target communication quality parameter range reflects real-time Communication quality, the target frequency determined according to the real-time communication quality is a frequency with higher current communication quality, so that the communication quality when the target frequency is used to send information can be guaranteed.

Referring to FIG. 2, a flow chart of the steps of a communication method according to the second embodiment of the present application is shown, which may specifically include the following steps:

Step 201: Obtain multiple real parameters of each frequency point in the preset working frequency band of the communication link from the sending end to the receiving end, where the real parameters are a numerical representation of the communication quality of the frequency point.

Among them, the real parameter is a communication quality parameter obtained through multiple rounds of measurement, and the communication quality parameter is a numerical representation of the communication quality. In practical applications, the real parameters can be measured through multiple rounds of frequency sweeping, and each round of frequency sweeping can get the true parameters of all frequency points. After N rounds of frequency sweeping, each frequency point can get N real parameters. For example, for 5 frequency points: FP1, FP2, FP3, FP4 and FP5, after the first round of frequency sweep, the true parameters of frequency point FP1 are RP11, the true parameters of frequency point FP2 are RP21, and the true parameters of frequency point FP3. RP31, the real parameter of frequency FP4 is RP41, the real parameter of frequency FP5 is RP51, after the second round of frequency sweep, the real parameter of FP1 is RP12, the real parameter of frequency FP2 is RP22, and the real parameter of frequency FP3 is The parameter is RP32, the real parameter of frequency point FP4 is RP42, the real parameter of frequency point FP5 is RP52, and so on, until after the Nth round of sweep, the real parameter of FP1 is RP1N, and the real parameter of frequency point FP2 is RP2N, The real parameter of frequency FP3 is RP3N, the real parameter of frequency FP4 is RP4N, and the real parameter of frequency FP5 is RP5N. It can be seen that after N rounds of frequency sweeping, FP1 gets N real parameters: RP11, RP12,..., RP1N, FP2 gets N real parameters: RP21, RP22,..., RP2N, FP3 gets N real parameters: RP31, RP32 ,..., RP3N, FP4 get N real parameters: RP41, RP42,..., RP4N, FP5 gets N real parameters: RP51, RP52,..., RP5N.

Optionally, the sending end is a remote control device, the receiving end is a drone, and the remote control device sends a control signal to the drone through the target frequency point to control the drone to fly .

Among them, the control signal is the information sent by the sending end to the receiving end in step 104, and in the application scenario of the drone, the sent information is the control signal.

This application can be applied to remote control equipment and drones, and the remote control device is used to control the flight of the drone. Among them, the control signal includes, but is not limited to: a signal to control the drone to take off, a signal to control the steering of the drone, a signal to accelerate the drone, a signal to decelerate the drone, and a signal to stop the drone from flying.

The control signal sent by the remote control device is usually triggered by the operator on the remote control device. The remote control device may be provided with physical keys for operation by the operator or virtual keys on the screen. Of course, in order to achieve different controls on the UAV, different physical buttons or virtual buttons or different operation modes need to be distinguished. For example, set the physical button PK1 to control the drone to take off, the physical button PK2 to control the drone to turn left, the physical button PK3 to control the drone to turn right, the physical button PK4 to control the drone to accelerate, and the physical button to control the drone to decelerate The physical button PK5, the physical button PK6 that controls the drone to stop flying. For another example, set the virtual button VK1 and virtual button VK2, long press the virtual button VK1 to control the drone to switch between take-off and stop flying, click the virtual button VK1 to control the drone acceleration, and click the virtual button VK2 to control The drone decelerates. When sliding from the virtual button VK1 to the virtual button VK2, it controls the drone to turn left, and when sliding from the virtual button VK2 to the virtual button VK1, it controls the drone to turn right.

Optionally, the step 201 includes sub-steps A1 to A2:

In sub-step A1, if the bandwidth of the preset working frequency band of the communication link from the transmitting end to the receiving end is the first-type bandwidth, acquiring multiple true parameters obtained by performing multiple rounds of measurements on the first-type frequency points, the The first type of frequency points are frequency points obtained according to the first frequency interval.

Among them, the first type of bandwidth is a smaller bandwidth than the second bandwidth. The first type of bandwidth is collected according to the first frequency interval to obtain the first type of frequency, and the second type of bandwidth is collected according to the second frequency interval to obtain the first type of frequency. For the second type of frequency points, the first frequency interval is smaller than the second frequency interval. In practical applications, the first frequency interval may be the default minimum frequency interval, and the system usually performs frequency sweep measurement according to the default minimum frequency interval. For example, the first frequency interval can be 2MHZ, for a bandwidth of 1004 to 1078MHZ, the following 38 first-class frequency points can be obtained: 1004MHZ frequency, 1006MHZ frequency, 1008MHZ frequency,..., 1078MHZ frequency, In this way, 38*N real parameters can be obtained after N rounds of frequency sweeping for these 38 first-type frequency points.

In sub-step A2, if the bandwidth of the preset working frequency band of the communication link from the sending end to the receiving end is the second type of bandwidth, then multiple real parameters of the second type of frequency point are acquired, and the second type of frequency point is For frequency points acquired according to a second frequency interval, the second frequency interval is greater than the first frequency interval, and the second type bandwidth is greater than the first type bandwidth.

Among them, the second type of bandwidth refers to a bandwidth that is larger than the first type of bandwidth. The second type of bandwidth is collected according to the second frequency interval to obtain the second type of frequency. The second frequency interval is compared with the first frequency. The interval is larger. For example, the second frequency interval can be 3MHZ. For a bandwidth of 1004 to 1078MHZ, the following 25 second-class frequency points can be obtained: 1004MHZ, 1007MHZ, 1010MHZ,..., 1076MHZ, so that the 25 second-class frequency points can pass through N rounds of frequency sweep, N real parameters are obtained for each second type frequency point.

This application can use different bandwidths and different frequency intervals. When the preset working frequency band is larger, the frequency points with a larger frequency interval can be swept. When the preset working frequency band is smaller, the frequency interval can be larger. Sweep at small frequency points. Such a flexible frequency sweep can ensure that the frequency sweep can cover a reasonable number of frequency points, and can also effectively reduce the computing resources consumed by the frequency sweep.

Optionally, the obtaining multiple real parameters of the second type of frequency points includes sub-steps B1 to B2:

In sub-step B1, for the frequency points that are the second-type frequency points and the first-type frequency points, obtain multiple real parameters obtained by performing multiple rounds of measurements on the frequency points.

From the detailed description of sub-step A1 and sub-step A2, it can be seen that the frequency points of the first type and the frequency points of the second type may overlap, that is: some frequency points are both the second type frequency point and the first type frequency point, but some Frequency points are only the second type frequency points, and some frequency points are only the first type frequency points. For example, for the above frequency of 1004MHZ, it is both the first type of frequency and the second type of frequency; for the above frequency of 1006MHZ, it is only the first type of frequency; for the above frequency of 1007MHZ, it is only the first type of frequency. Type 2 frequency points.

Based on this, after sweeping the first-type frequency points of the first-type bandwidth, the true parameters of the first-type frequency points are obtained. At this time, the second-type frequency points of the second-type bandwidth do not need to be swept again. The true parameters of the second type of frequency points can be directly determined according to the true parameters of the first type of frequency points. Specifically, if a frequency point is both a first-type frequency point and a second-type frequency point, the real parameters of the first-type frequency point can be directly used as the real parameters of the second-type frequency point. For example, after performing sweep measurement on the preset working frequency band of the first type of bandwidth, the real parameters of the first type of frequency point 1004MHZ are obtained, so for the preset working frequency of the second type of bandwidth, the first type of frequency point can be directly set to 1004MHZ. The real parameters are used as the real parameters of the second type frequency point 1004MHZ.

Sub-step B2, for the frequency points to be inserted that are the frequency points of the second type but not the frequency points of the first type, according to the frequency points adjacent to the frequency points to be inserted in the frequency points of the first type Multiple real parameters to determine multiple real parameters of the frequency point to be inserted.

If a frequency point is only the second type of frequency point, the real parameters of the second type of frequency point can be determined according to the true parameters of the first type of frequency point by using the interpolation method. Specifically, the average value of the true parameters of the first type of frequency points can be used as the true parameters of the second type of frequency points, and the true parameters of the second type of frequency points can be set to the middle size of the true parameters of the first type of frequency points. Numerical value, where the numerical value of the intermediate size refers to the larger value VAL1 and the smaller value VAL2 in the real parameters of the two first-type frequency points, so that the intermediate value is a value greater than or equal to VAL2 and less than or equal to VAL1. For example, the average value or any intermediate value of the real parameters of the first type frequency point 1006MHZ and the first type frequency point 1008MHZ can be used as the real parameter of the second type frequency point 1007MHZ, and the first type frequency point 1008MHZ can be used And the average value of the real parameters of 1010MHZ or any value of the middle size, as the real parameters of the second type frequency point of 1009MHZ.

This application can determine the true parameters of the second type of frequency points according to the true parameters of the first type of frequency points, avoiding multiple frequency sweeps, and helping to reduce the waste of computing resources by the frequency sweeping.

Step 202: Determine at least one target real parameter of each frequency point from the multiple real parameters of each frequency point.

Specifically, for each frequency point, a real parameter representing poor communication quality can be selected from the real parameters of each frequency point, and when the real parameter is a positive parameter, the smaller real parameter can be used as the target real parameter; When the real parameter is a negative parameter, the larger real parameter can be used as the target real parameter. For example, when the real parameter is the forward parameter, for the real parameters RP11, RP12, RP13, RP14, RP15, RP16, RP17, RP18, RP19 of the frequency point FP1, if RP11>RP12>RP13>RP14>RP15>RP16>RP17 >RP18>RP19, the smaller real parameters RP16, RP17, RP18, RP19 can be used as the target real parameters of the frequency point FP1. For another example, when the real parameters are negative parameters, for the real parameters RP11, RP12, RP13, RP14, RP15, RP16, RP17, RP18, RP19 of the frequency point FP1, if RP11>RP12>RP13>RP14>RP15>RP16> RP17>RP18>RP19, the larger real parameters RP11, RP12, RP13, RP14 can be used as the target real parameters of the frequency point FP1.

Step 203: Determine the average value of at least one target real parameter of each frequency point as the communication quality parameter of each frequency point.

For the target real parameters of the frequency point FP1: RP11, RP12, RP13, RP14, the communication quality parameter of the frequency point FP1 is (RP11+RP12+RP13+RP14)/5.

It can be seen from step 202 that since the target real parameter is a real parameter representing poor communication quality, the communication quality parameter of the frequency point determined according to the target real parameter represents the worst communication quality of the frequency point, which is determined according to the worst communication quality. The target frequency point can ensure that there is a worst communication quality during communication, thereby avoiding a situation that is worse than the worst communication quality.

Step 204: Determine one of the multiple frequency points as a reference frequency point according to the communication quality parameter.

In an example, the reference frequency point may be a frequency point with a smaller communication quality parameter among the frequency points. For example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1<SNR2<SNR3<SNR4< SNR5, so that one of the smaller SNR2 frequency points can be used as the reference frequency point. For another example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral density is IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, and IPSD1>IPSD2 >IPSD3>IPSD4>IPSD5, so the frequency point of one of the smaller interference signal power spectral density IPSD4 can be used as the reference frequency point.

In another example, the reference frequency point may be a frequency point with a larger communication quality parameter among the frequency points. For example, when the communication quality parameter is the signal-to-noise ratio, if there are frequencies FP1, FP2, FP3, FP4, and FP5, the signal-to-noise ratios are SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1<SNR2<SNR3<SNR4< SNR5, so that one of the larger SNR4 frequency points can be used as the reference frequency point. For another example, when the communication quality parameter is the interference signal power spectral density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectral density is IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, and IPSD1>IPSD2 >IPSD3>IPSD4>IPSD5, so the frequency point of one of the larger interference signal power spectral density IPSD2 can be used as the reference frequency point.

Step 205: Determine the target communication quality parameter range according to the communication quality parameter of the reference frequency point and the preset parameter threshold.

Specifically, the determination of the target communication quality parameter range is related to the selection of the reference frequency point. When the reference frequency point is the frequency point with the smaller communication quality parameter in the frequency point, the boundary value of the target communication quality parameter range may be the reference frequency point. The sum of communication quality parameters and preset parameter thresholds. For example, when the communication quality parameter is the signal-to-noise ratio, the preset parameter threshold value is the preset signal-to-noise ratio. SNR5, and SNR1<SNR2<SNR3<SNR4<SNR5, so that one of the smaller SNR2 frequency points can be used as the reference frequency point, so that the target communication quality parameter range is greater than or equal to SNR2+PSNR, SNR2+PSNR Is the boundary value of the target communication quality parameter range, where PSNR is the preset signal-to-noise ratio. For another example, when the communication quality parameter is the interference signal power spectrum density, the preset parameter threshold is the preset interference signal power spectrum density. If there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectrum density is IPSD1. , IPSD2, IPSD3, IPSD4 and IPSD5, and IPSD1>IPSD2>IPSD3>IPSD4>IPSD5, so that the frequency point of one of the smaller interference signal power spectral density IPSD4 can be used as the reference frequency point, so that the target communication quality parameter range is less than or It is equal to IPSD4+PIPSD, where PIPSD is the preset interference signal power spectral density.

When the reference frequency point is a frequency point with a larger communication quality parameter among the frequency points, the boundary value of the target communication quality parameter range may be the difference between the communication quality parameter of the reference frequency point and the preset parameter threshold. For example, when the communication quality parameter is the forward parameter signal-to-noise ratio, the preset parameter threshold is the preset signal-to-noise ratio. If the frequency points FP1, FP2, FP3, FP4, and FP5 are present, the signal-to-noise ratios are SNR1, SNR2, and SNR3, respectively. , SNR4 and SNR5, and SNR1<SNR2<SNR3<SNR4<SNR5, so that one of the larger SNR4 frequency points can be used as the reference frequency point, so that the target communication quality parameter range is greater than or equal to SNR4-PSNR, SNR4-PSNR is the boundary value of the target communication quality parameter range, where PSNR is the preset signal-to-noise ratio. For another example, when the communication quality parameter is a negative parameter interference signal power spectrum density, the preset parameter threshold is the preset interference signal power spectrum density, if there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectrum density They are IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, and IPSD1>IPSD2>IPSD3>IPSD4>IPSD5, so that the frequency point of one of the larger interference signal power spectral density IPSD2 can be used as the reference frequency point, thereby the target communication quality parameter range Is less than or equal to IPSD1-PIPSD, where PIPSD is the preset interference signal power spectral density.

In this application, the target communication quality parameter range can be determined by the reference frequency point and the preset parameter threshold value, which realizes the determination of the dynamic target communication quality parameter range based on the communication quality parameter of the frequency point, which helps to improve the accuracy of the target communication quality parameter range.

Optionally, the step 204 includes sub-step C1:

Sub-step C1, determining the frequency point with the smallest communication quality parameter from the multiple frequency points as a reference frequency point;

The step 205 includes sub-step D1:

In sub-step D1, the sum of the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range.

Among them, the boundary value may include the maximum value or the minimum value. When the boundary value is the maximum value, the target communication quality parameter range is the range determined by the maximum value; when the boundary value is the minimum value, the target communication quality parameter range is the range determined by the minimum value. For example, when the communication quality parameter is the signal-to-noise ratio, the boundary value is the minimum value, and the preset parameter threshold is the preset signal-to-noise ratio. If the frequency points FP1, FP2, FP3, FP4, and FP5 are respectively SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1<SNR2<SNR3<SNR4<SNR5, so that the frequency point of the minimum signal-to-noise ratio SNR1 can be used as the reference frequency point, so that the target communication quality parameter range is greater than or equal to SNR1+PSNR, SNR1 +PSNR is the minimum value, where PSNR is the preset signal-to-noise ratio. When the communication quality parameter is the interference signal power spectrum density, the boundary value is the maximum value, and the preset parameter threshold is the preset interference signal power spectrum density. If there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectrum density They are IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5, and IPSD1>IPSD2>IPSD3>IPSD4>IPSD5, so that the frequency point of the minimum interference signal power spectral density IPSD5 can be used as the reference frequency point, so that the target communication quality parameter range is less than or Equal to IPSD5+PIPSD, SNR5+PIPSD is the maximum value, where PIPSD is the preset interference signal power spectral density.

This application realizes that the minimum communication quality parameter is used as a reference to dynamically determine the target communication quality parameter range.

Optionally, the step 204 includes sub-step C2:

Sub-step C2, determining the frequency point with the largest communication quality parameter from the multiple frequency points as a reference frequency point;

The step 205 includes sub-step D2:

In sub-step D2, the difference between the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range.

This application can also dynamically determine the boundary value of the target communication quality parameter range through the maximum communication quality parameter. For example, when the communication quality parameter is the signal-to-noise ratio, the boundary value is the minimum value, and the preset parameter threshold is the preset signal-to-noise ratio. If the frequency points FP1, FP2, FP3, FP4, and FP5 are respectively SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1<SNR2<SNR3<SNR4<SNR5, so that the frequency point of the maximum signal-to-noise ratio SNR5 can be used as the reference frequency point, so that the target communication quality parameter range is greater than or equal to SNR5-PSNR, SNR5 -PSNR is the minimum value, where PSNR is the preset signal-to-noise ratio. When the communication quality parameter is the interference signal power spectrum density, the boundary value is the maximum value, and the preset parameter threshold is the preset interference signal power spectrum density. If there are frequency points FP1, FP2, FP3, FP4, and FP5, the interference signal power spectrum density IPSD1, IPSD2, IPSD3, IPSD4, and IPSD5 respectively, and IPSD1>IPSD2>IPSD3>IPSD4>IPSD5, so that the frequency point of the maximum interference signal power spectral density IPSD1 can be used as the reference frequency point, so that the target communication quality parameter range is less than or Equal to IPSD1-PIPSD, SNR1-PIPSD is the maximum value, where PIPSD is the preset interference signal power spectral density.

This application realizes that the maximum communication quality parameter is used as a reference to dynamically determine the target communication quality parameter range.

Step 206: Determine a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points.

For this step, refer to the detailed description of step 103, which will not be repeated here.

Step 207: Control the sending end to work at the target frequency point to send information to the receiving end.

For this step, reference may be made to the detailed description of step 104, which will not be repeated here.

In the embodiments of the present application, in addition to the beneficial effects of the first embodiment, when the preset working frequency band is large, the frequency points with a large frequency interval can be swept, and when the preset working frequency band is small, the frequency can be scanned. Sweep the frequency points with smaller frequency intervals. Such a flexible frequency sweep can ensure that the frequency sweep can cover a reasonable number of frequency points, and can also effectively reduce the computing resources consumed by the frequency sweep; in addition, the minimum or maximum communication quality parameters can be used as a reference to dynamically determine the target communication Range of quality parameters.

Referring to Fig. 3, a flow chart of the steps of a communication method according to the third embodiment of the present application is shown, which may specifically include the following steps:

Step 301: Obtain communication quality parameters of multiple frequency points in a preset working frequency band of the communication link from the sending end to the receiving end, where the preset working frequency band includes at least two non-contiguous frequency bands.

It can be understood that after the preset operating frequency bands are divided into frequency bands, each frequency band includes one or more frequency points.

Step 302: For each frequency band, determine the target communication quality parameter range of the frequency band according to the communication quality parameter of each frequency point in the frequency band.

Step 302 is to determine the target communication quality parameter range of the frequency band in a frequency band according to the communication quality parameters of the frequency point. The realization principle and process are the same as determining the target communication quality parameter range according to the communication quality parameters of all frequency points without distinguishing the frequency band. For this step 302, reference may be made to the detailed description of step 102, which will not be repeated here.

Step 303: Delete frequency points that do not meet the first preset condition from the frequency band, and the frequency points that do not meet the first preset condition include at least one of the following: the communication protocol adopted by the communication link does not support Frequency points, frequency points that are not supported by the sending end.

Among them, the frequency points that are not supported by the transmitting end include frequency points that are not supported by the radio frequency unit of the transmitting end. For example, for the remote control equipment of drones, the radio frequency unit IE1000 or TY does not support the frequency point.

This application can delete unsupported frequency points in advance before determining the target frequency point to ensure the availability of the target frequency point.

Step 304: For each frequency band, determine the communication quality parameter of the frequency band according to the frequency points of the communication quality parameter in the frequency band within the target communication quality parameter range of the frequency band.

It can be understood that when step 304 is performed, each frequency point in the frequency band meets the first preset condition.

When determining the communication quality parameters of the frequency band, the statistical values of the communication quality parameters of the frequency points within the target communication quality parameter range in the frequency band can be used as the communication quality parameters of the frequency band, including but not limited to: average value, maximum value, minimum value, The median value, where the median value refers to the communication quality parameter in the middle position after sorting the communication quality parameters.

Optionally, each frequency band corresponds to a candidate frequency point set, and the candidate frequency point set of the frequency band includes the frequency points of the communication quality parameter in the frequency band within the target communication quality parameter range of the frequency band, and the step 304 includes sub-steps E1 to E3:

In sub-step E1, if the number of first frequency points included in the set of candidate frequency points of the frequency band is less than a preset frequency point number threshold, obtain the remaining frequency points of the second frequency point number from the frequency band according to the communication quality parameter, and The remaining frequency points are different from any frequency point in the candidate frequency point set, and the sum of the first frequency point number and the second frequency point number is the frequency point number threshold.

Among them, the remaining frequency points of the second frequency point number are the frequency points with good communication quality outside the candidate frequency point set in a frequency band, which need to be determined according to the communication quality parameter. If the communication quality parameter is a forward parameter, the remaining frequency points include The frequency point with the larger communication quality parameter; if the communication quality parameter is a negative parameter, the remaining frequency points include the frequency point with the smaller communication quality parameter. For example, for a frequency band, it corresponds to five frequency points: FP1, FP2, FP3, FP4, FP5, the communication quality parameter is signal-to-noise ratio, and its signal-to-noise ratio is SNR1, SNR2, SNR3, SNR4, and SNR5, and SNR1 <SNR2<SNR3<SNR4<SNR5, where the signal-to-noise ratio SNR5 of frequency point FP5 is within the target communication quality parameter range of the frequency band, that is, the first frequency point number is 1, if the preset frequency point number threshold is 2, then the second The number of frequency points is 1, that is, one remaining frequency point needs to be determined. Because the signal-to-noise ratio is a positive parameter, it is necessary to determine the frequency point with the largest signal-to-noise ratio from the frequency points FP1, FP2, FP3, and FP4 that are different from the frequency point FP5 FP4 is used as the remaining frequency points and added to the candidate frequency point set to obtain the candidate frequency point sets as FP4 and FP5.

For another example, for a frequency band, it corresponds to five frequency points: FP1, FP2, FP3, FP4, FP5, the communication quality parameter is the interference signal power spectral density, and the interference signal power spectral density is IPSD1, IPSD2, IPSD3, IPSD4, respectively And IPSD5, and IPSD1>IPSD2>IPSD3>IPSD4>IPSD5, where the interference signal power spectral density SNR5 of frequency point FP5 is within the target communication quality parameter range of the frequency band, that is, the first frequency point number is 1. If the number of frequency points is preset If the threshold is 2, the second frequency point is 1, that is, one other frequency point needs to be determined, because the power spectral density of the interference signal is a negative parameter, which requires the frequency points FP1, FP2, FP3, and FP4 that are different from the frequency point FP5. In, the frequency point FP4 with the smallest interference signal power spectrum density is determined as the remaining frequency points, and added to the candidate frequency point set to obtain the candidate frequency point sets as FP4 and FP5.

Sub-step E2, adding the remaining frequency points to the candidate frequency point set of the frequency band.

It can be understood that if the number of frequency points of the communication quality parameter within the range of the target communication quality parameter is greater than or equal to the preset frequency point number threshold, the candidate frequency point set only includes the frequency points of the communication quality parameter within the range of the target communication quality parameter; if The number of frequency points within the target communication quality parameter range of the communication quality parameter is less than the preset frequency point number threshold, then the candidate frequency point set includes not only the frequency points where the communication quality parameter is within the target communication quality parameter range, but also includes the communication quality parameter not in the target The frequency point with the best communication quality within the communication quality parameter range. This application can ensure the communication quality while also ensuring the number of candidate frequency points, thereby ensuring the number of target frequency points, and avoiding communication failures caused by insufficient target frequency points.

In sub-step E3, the average value of the communication quality parameters of each frequency point in the candidate frequency point set of the frequency band is used as the communication quality parameter of the frequency band.

For the above candidate frequency point sets FP4 and FP5, when the communication quality parameter is the signal-to-noise ratio, the average value of the signal-to-noise ratio of FP4 and FP5 (SNR4+SNR5)/2 can be used as the communication quality parameter of the frequency band; when the communication quality When the parameter is the power spectral density of the interference signal, the average value of the noise power density of FP4 and FP5 (IPSD4+IPSD5)/2 can be used as the communication quality parameter of the frequency band.

This application can determine the communication quality parameters of the frequency band by the average of the communication quality parameters of the candidate frequency points in the candidate frequency point set, so that the communication quality parameters of the frequency band can take into account the communication quality parameters of each candidate frequency point, which is helpful to improve the frequency of the frequency band. The accuracy of communication quality parameters.

Step 305: Determine a target frequency band according to the communication quality parameter of the frequency band, and determine a candidate frequency point of the target frequency band as the target frequency point.

Among them, the communication quality of the target frequency band is better, and the frequency point with the best or better communication quality can be selected as the target frequency band. Specifically, the selection of the target frequency band is related to the communication quality parameter of the frequency band. When the communication quality parameter of the frequency band is a positive parameter, the frequency band with the largest or larger communication quality parameter can be selected as the target frequency band; when the communication quality parameter of the frequency band is negative When setting parameters, the frequency band with the smallest or smaller communication quality parameter can be selected as the target frequency band.

Optionally, the determining the target frequency band according to the communication quality parameter of the frequency band includes sub-steps F1 to F2:

In sub-step F1, the communication quality parameters of the frequency bands are adjusted according to the inherent difference parameters between the different frequency bands.

Among them, the inherent difference parameter is used to represent the difference between different frequency bands, the inherent difference parameter is an inherent attribute between different frequency bands, and does not change with time, environment, etc., the inherent difference parameter can be detected in advance. Specifically, the inherent difference parameter between the frequency bands may be the difference between the inherent parameters of the frequency bands. For example, for the two frequency bands BAND1 and BAND2, the inherent difference parameters of the frequency bands BAND1 and BAND2 may be PAR1-PAR2, where PAR1 is The inherent parameters of the frequency band BAND1, and PAR2 are the inherent parameters of the frequency band BAND2.

In this application, the communication quality parameter takes into account the inherent difference parameters between frequency bands, so that: the frequency band with the larger positive parameter has better communication quality, and the negative parameter has the larger inherent difference parameter. The communication quality is worse.

Specifically, if the inherent parameters of the frequency bands and the communication quality parameters of the frequency bands are both positive parameters, the communication quality parameters of the frequency bands with larger inherent parameters can be increased, or the communication quality parameters of the frequency bands with smaller inherent parameters can be reduced. If the inherent parameters of the frequency band are positive parameters, but the communication quality parameters of the frequency bands are all negative parameters, the communication quality parameters of the frequency bands with larger inherent parameters can be reduced, or the communication quality parameters of the frequency bands with smaller inherent parameters can be increased. . If the inherent parameters of the frequency band are negative parameters but the communication quality parameters of the frequency bands are all positive parameters, the communication quality parameters of the frequency bands with smaller inherent parameters can be increased, or the communication quality parameters of the frequency bands with larger inherent parameters can be reduced. If the inherent parameters of the frequency bands and the communication quality parameters of the frequency bands are both negative parameters, the communication quality parameters of the frequency bands with smaller inherent parameters can be reduced, or the communication quality parameters of the frequency bands with larger inherent parameters can be increased.

This application adjusts the communication quality parameters of the frequency bands in combination with the inherent parameters of the frequency bands, and realizes the expression of the communication quality parameters of the frequency bands in multiple dimensions, so that the communication quality parameters can more accurately characterize the communication quality.

Optionally, the sub-step F1 includes sub-steps G1 to G3:

In sub-step G1, a reference frequency band is determined from the frequency bands.

Among them, the reference frequency band may be any frequency band among multiple frequency bands.

Sub-step G2, for the remaining frequency bands other than the reference frequency band, the inherent difference parameters between the remaining frequency bands and the reference frequency band are used to adjust the communication quality parameters of the remaining frequency bands.

Specifically, if the inherent parameters of the frequency band and the communication quality parameters of the frequency band are both positive parameters, the following formula can be used to adjust the communication quality parameters of the remaining frequency bands:

CQP’=CQP+(RPAR-CPAR) (1)

Among them, CQP' is the communication quality parameter of the remaining frequency bands after adjustment, CQP is the communication quality parameter of the remaining frequency bands before adjustment, RPAR is the inherent parameter of the remaining frequency bands, CPAR is the inherent parameter of the reference frequency band, and RPAR-CPAR is the remaining frequency band and the reference frequency band The inherent difference parameter.

If the inherent parameter of the frequency band is a positive parameter, but the communication quality parameter of the frequency band is a negative parameter, the following formula can be used to adjust the communication quality parameters of the remaining frequency bands:

CQP’=CQP-(RPAR-CPAR) (2)

In addition, if the inherent parameters of the frequency band are negative parameters but the communication quality parameters of the frequency band are positive parameters, formula (2) can be used to adjust the communication quality parameters of the remaining frequency bands. If the inherent parameters of the frequency band and the communication quality parameters of the frequency band are both For negative parameters, formula (1) can be used to adjust the communication quality parameters of the remaining frequency bands.

This application can select a reference frequency band, and adjust the communication quality parameters of the remaining frequency bands based on the inherent parameters of the reference frequency band, so that the communication quality parameters of the remaining frequency bands are based on the same reference, and the adjustment range is only determined by the inherent parameters of the remaining frequency bands and the reference frequency bands. The difference parameter determination helps to improve the comparability and accuracy of the adjusted communication quality parameters.

Optionally, the inherent difference parameter includes at least one of the following: a path loss difference parameter and a power difference parameter.

Among them, the path loss difference parameter refers to the difference in path loss between frequency bands. For example, for two frequency bands BAND1 and BAND2, the path loss difference parameters of the frequency bands BAND1 and BAND2 may be RL1-RL2, where RL1 is the path loss of the frequency band BAND1, and RL2 is the path loss of the frequency band BAND2.

The power difference parameter refers to the difference in transmit power between frequency bands. For example, for two frequency bands BAND1 and BAND2, the power difference parameters of the frequency bands BAND1 and BAND2 may be TP1-TP2, where TP1 is the transmit power of the frequency band BAND1, and TP2 is the transmit power of the frequency band BAND2.

In sub-step G3, the target frequency band is determined according to the communication quality parameter of the adjusted frequency band.

Among them, the target frequency band is the frequency band with the best communication quality, so it is necessary to determine the target frequency band according to whether the communication quality parameter is a positive parameter or a negative parameter. When the communication quality parameter is a positive parameter, the largest communication quality parameter represents the best communication quality, so the frequency band with the largest communication quality parameter is the target frequency band; when the communication quality parameter is a negative parameter, the smallest communication quality parameter represents the best communication quality , So the frequency band with the smallest communication quality parameter is the target frequency band.

Optionally, the communication quality parameter is used to indicate the communication quality of the communication link, and the communication quality parameter includes one of the following: signal-to-noise ratio, packet error rate, and noise power spectral density. The sub-step G3, Including sub-steps H1 or H2 or H3:

In sub-step H1, the adjusted frequency band with the largest signal-to-noise ratio is determined as the target frequency band.

In sub-step H2, the adjusted frequency band with the smallest packet error rate is determined as the target frequency band.

In sub-step H3, the frequency band with the smallest power spectral density of the interference signal after adjustment is determined as the target frequency band.

Among them, the target frequency band is the frequency band with the best communication quality. When the communication quality parameter is the signal-to-noise ratio, the largest signal-to-noise ratio represents the best communication quality, so the frequency band with the largest signal-to-noise ratio is the target frequency band; when the communication quality parameter is packet error When the packet error rate is the smallest, the communication quality is the best, and the frequency band with the smallest packet error rate is the target frequency band; when the communication quality parameter is the interference signal power spectrum density, the smallest interference signal power spectrum density represents the best communication quality, thereby interfering The frequency band with the smallest signal power spectral density is the target frequency band.

This application can determine the target frequency band in three ways.

After the target frequency band is determined, the candidate frequency point set of the target frequency band is used as the target frequency band. It can be understood that the target frequency band is a frequency band with the best communication quality, and the candidate frequency point is a continuous frequency point in the target frequency band, so that the determined target frequency point is a continuous frequency point and a frequency point with better communication quality.

Step 306: Control the sending end to work at the target frequency point to send information to the receiving end.

For this step, reference may be made to the detailed description of step 104, which will not be repeated here.

In the embodiments of the present application, in addition to the beneficial effects of the first embodiment, the present application can also select target frequency points based on the frequency band, and use a candidate frequency point of a frequency band as the target frequency point, which helps to improve the target frequency point. The continuity can reduce the complexity of switching between the time and frequency of sending information; in addition, the unsupported frequency can be deleted in advance before the target frequency is determined to ensure the availability of the target frequency; in addition, it can also be pre-determined Set the threshold of the number of frequency points to ensure the number of candidate frequency points, thereby ensuring the number of target frequency points, avoiding communication failures caused by insufficient target frequency points; in addition, the communication quality parameters of each candidate frequency point in the candidate frequency point set can be averaged The value determines the communication quality parameters of the frequency band, so that the communication quality parameters of the frequency band can take into account the communication quality parameters of each candidate frequency point, which helps to improve the accuracy of the communication quality parameters of the frequency band; in addition, the frequency band can be adjusted in conjunction with the inherent parameters of the frequency band The communication quality parameters of, realize the communication quality parameters of the frequency bands in multiple dimensions, making the communication quality parameters more accurate in characterizing the communication quality; in addition, you can also select a reference frequency band and adjust it based on the inherent parameters of the reference frequency band The communication quality parameters of the remaining frequency bands make the communication quality parameters of the remaining frequency bands based on the same reference, and the adjustment range is only determined by the inherent difference parameters between the remaining frequency bands and the reference frequency band, which helps to improve the comparability and accuracy of the adjusted communication quality parameters Spend.

Referring to FIG. 4, there is shown a flow chart of the steps of a communication method according to the fourth embodiment of the present application, which may specifically include the following steps:

Step 401: Obtain communication quality parameters of multiple frequency points in a preset working frequency band of the communication link from the sending end to the receiving end.

For this step, refer to the detailed description of step 101, which will not be repeated here. Step 402: Determine a target communication quality parameter range according to the communication quality parameter of the reference frequency point among the multiple frequency points.

For this step, reference may be made to the detailed description of step 102, which will not be repeated here.

Step 403: Determine a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points.

For this step, refer to the detailed description of step 103, which will not be repeated here.

Step 404: Control the sending end to work at the target frequency point to send information to the receiving end.

For this step, reference may be made to the detailed description of step 104, which will not be repeated here.

Step 405: Detect whether the target frequency point is an abnormal frequency point, and the abnormal frequency point includes a frequency point that is abnormal when sending information.

In step 404, the sending end works on the target frequency point and sends information to the receiving end. This application can monitor the process of sending information to determine whether the frequency point is abnormal.

Optionally, the step 405 includes sub-steps I1 to I2:

Sub-step I1: Obtain the signal parameters of the target frequency when sending information.

Among them, the signal parameter can characterize the communication quality from the reference signal. The larger the signal parameter, the better the communication quality; the smaller the signal parameter, the worse the communication quality. For example, the signal parameter may be RSRP (Reference Signal Receiving Power, reference signal received power).

In sub-step I2, if the signal parameter of the target frequency point is greater than or equal to the preset signal parameter threshold, and the number of consecutive abnormalities in the connection of the target frequency point is greater than the preset number of abnormalities threshold, the target frequency point is determined It is abnormal frequency.

Among them, the preset signal parameter threshold is a value preset based on experience, for example, it can be set to -105 DBM/hZ. The signal parameter of the target frequency point is greater than or equal to the preset signal parameter threshold, which means that the signal strength of the target frequency point is good. At this time, if the connection continues to be abnormal, the target frequency point is determined to be an abnormal frequency point. For example, if the threshold of the number of abnormalities is set to 5, when the CONTINUOUS_PUSCH_ERR_NUM_WITH_FREQ_DEL message is continuously received 5 times, it is determined that the target frequency point is an abnormal frequency point.

It can be understood that when the signal parameters are good, if the connection is abnormal continuously, it means that the noise is relatively serious, so that the target frequency cannot guarantee communication.

Step 406: Send an abnormal frequency point deletion notification, where the abnormal frequency point deletion notification is used to notify the sending end to delete the abnormal frequency point from the target frequency point.

Specifically, the abnormal frequency point can be added to the abnormal frequency point set, and the abnormal frequency point deletion notification carrying the abnormal frequency point set can be sent, so that the sending end will remove the abnormal frequency point from the target frequency point when receiving the abnormal frequency point deletion notification. Delete the abnormal frequency points contained in the abnormal frequency point set, so that when the sender needs to send information to the receiver again, the abnormal frequency will no longer be used, which helps to ensure the normal communication from the sender to the receiver.

Step 407: If the number of the target frequency points is less than or equal to the preset frequency point number threshold, enter the step of obtaining communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end .

In this application, the sending end always maintains a certain number of target frequency points, which is called the preset frequency point number threshold. When the number of target frequency points is less than the preset frequency point number threshold, the target frequency point needs to be re-determined, namely Re-execute the method of determining the target frequency point from steps 101 to 104.

Step 408: If the number of abnormal frequency points is greater than a preset threshold value for the number of abnormal frequency points, delete the abnormal information of the recorded abnormal frequency points according to the abnormal time of the abnormal frequency points.

Among them, the abnormal information of the abnormal frequency includes but is not limited to: the index of the abnormal frequency, the abnormal time of the abnormal frequency, and the number of frequency selections after the abnormal frequency is determined to be abnormal. The abnormal information of the abnormal frequency can be in the form of a list. storage.

The abnormal time of the abnormal frequency point is the time when the abnormal frequency point is determined to be abnormal. Therefore, when the number of abnormal frequency points is greater than the abnormal frequency point number threshold, the abnormal frequency points with an earlier abnormal time can be deleted. After these abnormal frequency points are deleted, It is considered that it is restored to the normal frequency point, so that when the target frequency point is determined next time, it can be determined whether to determine it as the target frequency point according to the communication quality parameter restored to the normal frequency point. Normally, after a frequency point is determined as an abnormal frequency point, it is difficult to restore the frequency point to the normal frequency point within a short time; but after a long time, the frequency point may return to the normal frequency point.

This application can dynamically maintain abnormal frequency points, and restore the abnormal frequency points that occurred earlier to normal frequency points, which helps to improve the utilization rate of frequency points, and thereby the utilization rate of wireless resources.

Optionally, the method further includes:

Step J1, record the abnormal information of the abnormal frequency point;

Before determining the target communication quality parameter range according to the communication quality parameter of the reference frequency point among the multiple frequency points, the method further includes step J2:

Step J2: Delete the abnormal frequency points whose abnormal information does not meet the second preset condition from the multiple frequency points.

Among them, abnormal frequency points that do not meet the second preset condition include abnormal frequency points whose abnormal time is less than the preset time period from the current time, that is, frequency points that have just been determined to be abnormal. The abnormal information usually contains information representing whether the abnormal frequency has just been determined to be abnormal. For example, the abnormal time, the number of times the target frequency point is determined after being determined to be abnormal, and so on.

This application can delete abnormal frequency points from multiple frequency points, so as to avoid re-determining the abnormal frequency points that have just been determined to be abnormal as the target frequency points, which helps to ensure the success rate of sending information from the sending end to the receiving end.

Optionally, the abnormal information of the abnormal frequency point includes: the frequency selection number and/or the abnormal time of the abnormal frequency point after the abnormal frequency point is determined to be abnormal, and the frequency selection number is to determine the target frequency point The number of sets, the step J2 includes sub-steps K1 and/or K2:

In sub-step K1, the abnormal frequency points whose frequency selection times are less than or equal to a preset frequency selection times threshold are deleted from the plurality of frequency points.

The number of frequency selections can be understood as the number of times steps 101 to 104 are executed after the frequency point is determined to be an abnormal frequency point, and steps 101 to 104 are executed once to determine the target frequency point once. After the target frequency point is determined several times, the previously determined abnormal frequency point may be restored to the normal frequency point; but the frequency point that has just been determined to be abnormal is difficult to return to the normal frequency point, so it is necessary to delete the newly determined frequency point from the multiple frequency points. It is an abnormal frequency point, so that when the target frequency point is determined next time, the frequency point that has just been determined to be abnormal will not be determined as the target frequency point. Among them, the number of times the target frequency is determined is the preset frequency selection threshold. For example, for five frequency points: AFP1, AFP2, AFP3, AFP4 and AFP5, they will be on April 21, 2020 at 10:10:10, 10:10:11, 10:10:13, 10:10:15, respectively. , 10:10:18 is determined as the abnormal frequency; if the target frequency is determined every second after 10:10:10 on April 21, 2020, so that at 10:10 on April 21, 2020: At 20:00, the number of selections after abnormal frequency AFP1 is determined to be abnormal is 10, the number of selections after abnormal frequency AFP2 is determined to be abnormal is 9, and the number of selections after abnormal frequency AFP3 is determined to be abnormal is 7. , The number of frequency selections after the abnormal frequency point AFP4 is determined to be abnormal is 5, and the number of frequency selections after the abnormal frequency point AFP2 is determined to be abnormal is 2. Delete abnormal frequency point AFP2, abnormal frequency point AFP3, abnormal frequency point AFP4 and abnormal frequency point AFP5 from the frequency points, so that the abnormal frequency point AFP2, abnormal frequency point AFP3, and abnormal frequency point will not be deleted when the target frequency point is determined next time AFP4 and abnormal frequency point AFP5 are determined as target frequency points.

This application can determine whether an abnormal frequency point has just been determined as abnormal by the number of frequency selections, so as to avoid re-determining the abnormal frequency point that has just been determined to be abnormal as the target frequency point, which helps to ensure the success of sending information from the sender to the receiver. Rate.

Sub-step K2, deleting from the multiple frequency points abnormal frequency points whose abnormal time is less than or equal to a preset abnormal time length threshold from the current time.

Among them, the abnormal time is the time when the frequency point is determined as the abnormal frequency point. After the frequency point is determined as the abnormal frequency point, if a long time passes, the previously determined abnormal frequency point may return to the normal frequency point, but it has just been determined The abnormal frequency point may not be restored to the normal frequency point, so the frequency point that has just been determined to be abnormal is deleted from multiple frequency points. The next time the target frequency point is determined, the frequency point that has just been determined to be abnormal will not be restored. The frequency point is determined as the target frequency point. For example, for five frequency points: AFP1, AFP2, AFP3, AFP4 and AFP5, they will be on April 21, 2020 at 10:10:10, 10:10:11, 10:10:13, 10:10:15, respectively. , 10:10:18 is determined as the abnormal frequency point; if the preset abnormality duration threshold is set to 5 seconds, the abnormal frequency point will be deleted from the multiple frequency points at 10:10:20 on April 21, 2020 AFP4 and abnormal frequency point AFP5, so that the abnormal frequency point AFP4 and abnormal frequency point AFP5 will not be determined as the target frequency point when the target frequency point is determined next time.

This application can determine whether an abnormal frequency point is determined as an abnormality through the abnormal time, so as to avoid re-determining the abnormal frequency point determined as an abnormality as the target frequency point, which helps to ensure the success rate of the sending end to send information to the receiving end .

In the embodiments of the present application, in addition to the beneficial effects of the first embodiment, the present application can also detect abnormal frequency points in the process of sending information, so as to delete the abnormal frequency points from the target frequency points, so that the sending end needs to send information to When the receiving end sends information, the abnormal frequency will not be used again, which helps to ensure the normal communication from the sending end to the receiving end; in addition, the abnormal frequency can be dynamically maintained, and the abnormal frequency can be restored to the normal frequency. It helps to improve the utilization of frequency points, thereby improving the utilization of wireless resources; in addition, abnormal frequency points can be deleted from multiple frequency points, so as to avoid re-determination of abnormal frequency points that have just been determined as abnormal. Frequency points help to ensure the success rate of the sending end to send information to the receiving end; in addition, the number of frequency selections can also be used to determine whether an abnormal frequency point has just been determined to be abnormal, so as to avoid re-taking the abnormal frequency point that has just been determined to be abnormal. Determining the target frequency point helps to ensure the success rate of the sending end to send information to the receiving end; in addition, the abnormal frequency can be determined by the abnormal time to determine whether the abnormal frequency point is determined to be abnormal, so as to avoid the abnormal frequency that is determined to be abnormal. The point is then determined as the target frequency point, which helps to ensure the success rate of the sending end to send information to the receiving end.

5, there is shown a structural block diagram of a communication device according to the fifth embodiment of the present application, which specifically includes a processor 510, a memory 520, and a computer program stored on the memory 520 and running on the processor 510 When the processor executes the computer program, it is used to:

Acquiring communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end;

Determining a target communication quality parameter range according to the communication quality parameter of a reference frequency point among the multiple frequency points;

Determining a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points;

Controlling the sending end to work at the target frequency point to send information to the receiving end.

Optionally, the processor is further configured to:

Determining one of the multiple frequency points as a reference frequency point according to the communication quality parameter;

The target communication quality parameter range is determined according to the communication quality parameter of the reference frequency point and the preset parameter threshold.

Optionally, the processor is further configured to:

Determining, from the multiple frequency points, the frequency point with the smallest communication quality parameter as a reference frequency point;

The sum of the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range.

Optionally, the processor is further configured to:

Determining, from the multiple frequency points, the frequency point with the largest communication quality parameter as a reference frequency point;

The difference between the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range.

Optionally, the processor is further configured to:

Acquiring multiple real parameters of each frequency point in the preset working frequency band of the communication link from the sending end to the receiving end, where the real parameters are a numerical representation of the communication quality of the frequency point;

Determine at least one target real parameter of each frequency point from the multiple real parameters of each frequency point;

The average value of at least one target real parameter of each frequency point is determined as the communication quality parameter of each frequency point.

Optionally, the preset operating frequency band includes at least two non-contiguous frequency bands, and the processor is further configured to:

For each of the frequency bands, determining the target communication quality parameter range of the frequency band according to the communication quality parameters of each frequency point in the frequency band;

For each of the frequency bands, determine the communication quality parameter of the frequency band according to the frequency points of the communication quality parameter in the frequency band within the target communication quality parameter range of the frequency band;

The target frequency band is determined according to the communication quality parameter of the frequency band, and the candidate frequency point of the target frequency band is determined as the target frequency point.

Optionally, the processor is further configured to:

Adjusting the communication quality parameters of the frequency bands according to the inherent difference parameters between the different frequency bands;

The target frequency band is determined according to the communication quality parameters of the adjusted frequency band, and the candidate frequency point of the target frequency band is determined as the target frequency point.

Optionally, the processor is further configured to:

Determine a reference frequency band from the frequency bands;

For the remaining frequency bands other than the reference frequency band, the inherent difference parameters between the remaining frequency bands and the reference frequency band are used to adjust the communication quality parameters of the remaining frequency bands.

Optionally, the inherent difference parameter includes at least one of the following: a path loss difference parameter and a power difference parameter.

Optionally, there are multiple candidate frequency points, and the multiple candidate frequency points constitute a candidate frequency point set, and the processor is further configured to:

For each frequency band, the average of the communication quality parameters of each frequency point in the candidate frequency point set of the frequency band is taken as the communication quality parameter of the frequency band, and the candidate frequency point set of the frequency band includes the The frequency point of the communication quality parameter within the range of the target communication quality parameter of the frequency band.

Optionally, if the number of first frequency points included in the set of candidate frequency points of the frequency band is less than a preset frequency point number threshold, obtaining the remaining frequency points of the second frequency point number from the frequency band according to the communication quality parameter; The remaining frequency points are different from any frequency point in the candidate frequency point set, and the sum of the first frequency point number and the second frequency point number is the frequency point number threshold;

Adding the remaining frequency points to the candidate frequency point set of the frequency band.

Optionally, the communication quality parameter is used to indicate the communication quality of the communication link, and the communication quality parameter includes one of the following: signal-to-noise ratio, packet error rate, and noise power spectral density. At:

Determine the adjusted frequency band with the largest signal-to-noise ratio as the target frequency band; or,

Determine the adjusted frequency band with the smallest packet error rate as the target frequency band; or,

The frequency band with the smallest power spectral density of the interference signal after adjustment is determined as the target frequency band.

Optionally, the processor is further configured to:

The frequency points that do not meet the first preset condition are deleted from the frequency band, and the frequency points that do not meet the first preset condition include at least one of the following: frequency points that are not supported by the communication protocol adopted by the communication link , Frequency points not supported by the sending end.

Optionally, the processor is further configured to:

If the bandwidth of the preset working frequency band of the communication link from the transmitting end to the receiving end is the first-type bandwidth, then multiple real parameters obtained by performing multiple rounds of measurements on the first-type frequency points are acquired, and the first-type frequency The point is the frequency point obtained according to the first frequency interval;

If the bandwidth of the preset working frequency band of the communication link from the transmitting end to the receiving end is the second-type bandwidth, then multiple real parameters of the second-type frequency points are acquired, and the second-type frequency points are based on the second frequency The obtained frequency points are separated from each other, the second frequency interval is greater than the first frequency interval, and the second type bandwidth is greater than the first type bandwidth.

Optionally, the processor is further configured to:

For a frequency point that is the second type frequency point and the first type frequency point, acquiring multiple true parameters obtained by performing multiple rounds of measurement on the frequency point;

For the frequency points to be inserted that are the frequency points of the second type but not the frequency points of the first type, according to multiple real parameters of the frequency points adjacent to the frequency points to be inserted in the frequency points of the first type , Determine the multiple real parameters of the frequency points to be inserted.

Optionally, the processor is further configured to:

Detecting whether the target frequency point is an abnormal frequency point, and the abnormal frequency point includes a frequency point that is abnormal when sending information;

Sending an abnormal frequency point deletion notification, where the abnormal frequency point deletion notification is used to notify the sending end to delete the abnormal frequency point from the target frequency point.

Optionally, the processor is further configured to:

Acquiring signal parameters of the target frequency when sending information;

If the signal parameter of the target frequency point is greater than or equal to the preset signal parameter threshold, and the number of consecutive abnormalities in the connection of the target frequency point is greater than the preset abnormal frequency threshold, the target frequency point is determined to be an abnormal frequency point .

Optionally, the processor is further configured to:

If the number of the target frequency points is less than or equal to the preset frequency point number threshold, enter the step of obtaining communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end.

Optionally, the processor is further configured to:

Record the abnormal information of the abnormal frequency point;

The abnormal frequency points whose abnormal information does not meet the second preset condition are deleted from the multiple frequency points.

Optionally, the abnormal information of the abnormal frequency point includes: the frequency selection number and/or the abnormal time of the abnormal frequency point after the abnormal frequency point is determined to be abnormal, and the frequency selection number is to determine the target frequency point The processor is also used to:

Delete abnormal frequency points whose frequency selection times are less than or equal to the preset frequency selection times threshold from the multiple frequency points; and/or,

The abnormal frequency points whose abnormal time is less than or equal to the preset abnormal time length threshold are deleted from the multiple frequency points.

Optionally, the processor is further configured to:

If the number of abnormal frequency points is greater than the preset threshold value for the number of abnormal frequency points, the recorded abnormal information of the abnormal frequency points is deleted according to the abnormal time of the abnormal frequency point.

Optionally, the sending end is a remote control device, the receiving end is a drone, and the remote control device sends a control signal to the drone through the target frequency point to control the drone Take the flight.

In the embodiment of the present application, the communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the transmitting end to the receiving end are acquired; according to the communication quality parameters of the reference frequency point among the multiple frequency points Determine the target communication quality parameter range; determine the target frequency point of the communication quality parameter within the target communication quality parameter range from the multiple frequency points; control the sending end to work at the target frequency point to provide The receiving end sends information. This application can determine the target communication quality parameter range for the communication quality parameter of each frequency point, so that the target communication quality parameter range is the dynamic range related to the communication quality parameter of each frequency point, so that the determined target communication quality parameter range reflects real-time Communication quality, the target frequency determined according to the real-time communication quality is a frequency with higher current communication quality, so that the communication quality when the target frequency is used to send information can be guaranteed.

The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

The application also provides an unmanned aerial vehicle including the aforementioned communication device.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

The “one embodiment”, “an embodiment” or “one or more embodiments” referred to herein means that a specific feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application. In addition, please note that the word examples "in one embodiment" here do not necessarily all refer to the same embodiment.

In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail, so as not to obscure the understanding of this specification.

In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple such elements. The application can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (45)

A communication method, characterized in that the method includes: Acquiring communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end; Determining a target communication quality parameter range according to the communication quality parameter of a reference frequency point among the multiple frequency points; Determining a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points; Controlling the sending end to work at the target frequency point to send information to the receiving end. The method according to claim 1, wherein the determining a target communication quality parameter range according to the communication quality parameter of a reference frequency point in the plurality of frequency points comprises: Determining one of the multiple frequency points as a reference frequency point according to the communication quality parameter; The target communication quality parameter range is determined according to the communication quality parameter of the reference frequency point and the preset parameter threshold. The method according to claim 2, wherein the determining one of the multiple frequency points as a reference frequency point according to the communication quality parameter comprises: Determining, from the multiple frequency points, the frequency point with the smallest communication quality parameter as a reference frequency point; The determining the target communication quality parameter range according to the communication quality parameter of the reference frequency point and the preset parameter threshold includes: The sum of the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range. The method according to claim 2, wherein the determining one of the multiple frequency points as a reference frequency point according to the communication quality parameter comprises: Determining, from the multiple frequency points, the frequency point with the largest communication quality parameter as a reference frequency point; The determining the target communication quality parameter range according to the communication quality parameter of the reference frequency point and the preset parameter threshold includes: The difference between the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range. The method according to claim 1, wherein said obtaining communication quality parameters of multiple frequency points in a preset working frequency band of the communication link from the sending end to the receiving end comprises: Acquiring multiple real parameters of each frequency point in the preset working frequency band of the communication link from the sending end to the receiving end, where the real parameters are a numerical representation of the communication quality of the frequency point; Determine at least one target real parameter of each frequency point from the multiple real parameters of each frequency point; The average value of at least one target real parameter of each frequency point is determined as the communication quality parameter of each frequency point. The method according to claim 1, wherein the preset operating frequency band includes at least two non-contiguous frequency bands, and the target is determined according to the communication quality parameter of a reference frequency point among the multiple frequency points The range of communication quality parameters includes: For each of the frequency bands, determining the target communication quality parameter range of the frequency band according to the communication quality parameters of each frequency point in the frequency band; The determining the target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points includes: For each of the frequency bands, determine the communication quality parameter of the frequency band according to the frequency points of the communication quality parameter in the frequency band within the target communication quality parameter range of the frequency band; The target frequency band is determined according to the communication quality parameter of the frequency band, and the candidate frequency point of the target frequency band is determined as the target frequency point. The method according to claim 6, wherein the determining the target frequency band according to the communication quality parameter of the frequency band comprises: Adjusting the communication quality parameters of the frequency bands according to the inherent difference parameters between the different frequency bands; The target frequency band is determined according to the communication quality parameters of the adjusted frequency band. The method according to claim 7, wherein the adjusting the communication quality parameter of the frequency band according to the inherent difference parameter between the different frequency bands comprises: Determine a reference frequency band from the frequency bands; For the remaining frequency bands other than the reference frequency band, the inherent difference parameters between the remaining frequency bands and the reference frequency band are used to adjust the communication quality parameters of the remaining frequency bands. The method according to claim 6, wherein the inherent difference parameter comprises at least one of the following: a path loss difference parameter and a power difference parameter. The method according to claim 6, wherein there are a plurality of candidate frequency points, and the plurality of candidate frequency points constitute a candidate frequency point set, and the communication quality parameter in the frequency band is in the The frequency points within the range of the target communication quality parameter of the frequency band determine the communication quality parameter of the frequency band, including: The average value of the communication quality parameters of each frequency point in the candidate frequency point set of the frequency band is used as the communication quality parameter of the frequency band, and the candidate frequency point set of the frequency band includes the communication quality parameter in the frequency band in the frequency band. The frequency point within the range of the target communication quality parameter. The method according to claim 10, characterized in that, before said using the average of the communication quality parameters of each frequency point in the candidate frequency point set of the frequency band as the communication quality parameter of the frequency band, the method further comprises : If the number of first frequency points included in the set of candidate frequency points of the frequency band is less than the preset frequency point number threshold, the remaining frequency points of the second frequency point number are obtained from the frequency band according to the communication quality parameter, and the remaining frequency points are equal to Any frequency point in the candidate frequency point set is different, and the sum of the first frequency point number and the second frequency point number is the frequency point number threshold; Adding the remaining frequency points to the candidate frequency point set of the frequency band. The method according to claim 7, wherein the communication quality parameter is used to indicate the communication quality of the communication link, and the communication quality parameter includes one of the following: signal-to-noise ratio, packet error rate, noise power Spectral density, said determining the target frequency band according to the adjusted communication quality parameter of the frequency band, includes: Determine the adjusted frequency band with the largest signal-to-noise ratio as the target frequency band; or, Determine the adjusted frequency band with the smallest packet error rate as the target frequency band; or, The frequency band with the smallest power spectral density of the interference signal after adjustment is determined as the target frequency band. The method according to claim 6, characterized in that, before determining the communication quality parameter of the frequency band according to the frequency points of the communication quality parameter in the frequency band within the range of the target communication quality parameter of the frequency band, The method also includes: The frequency points that do not meet the first preset condition are deleted from the frequency band, and the frequency points that do not meet the first preset condition include at least one of the following: frequency points that are not supported by the communication protocol adopted by the communication link , Frequency points not supported by the sending end. The method according to claim 5, wherein the acquiring multiple real parameters of each frequency point in the preset working frequency band of the communication link from the sending end to the receiving end comprises: If the bandwidth of the preset working frequency band of the communication link from the transmitting end to the receiving end is the first-type bandwidth, then multiple real parameters obtained by performing multiple rounds of measurements on the first-type frequency points are acquired, and the first-type frequency The point is the frequency point obtained according to the first frequency interval; If the bandwidth of the preset working frequency band of the communication link from the transmitting end to the receiving end is the second-type bandwidth, then multiple real parameters of the second-type frequency points are acquired, and the second-type frequency points are based on the second frequency The obtained frequency points are separated from each other, the second frequency interval is greater than the first frequency interval, and the second type bandwidth is greater than the first type bandwidth. The method according to claim 14, wherein the obtaining multiple real parameters of the second type of frequency points comprises: For a frequency point that is the second type frequency point and the first type frequency point, acquiring multiple true parameters obtained by performing multiple rounds of measurement on the frequency point; For the frequency points to be inserted that are the frequency points of the second type but not the frequency points of the first type, according to multiple real parameters of the frequency points adjacent to the frequency points to be inserted in the frequency points of the first type , Determine the multiple real parameters of the frequency points to be inserted. The method according to any one of claims 1 to 15, wherein the method further comprises: Detecting whether the target frequency point is an abnormal frequency point, and the abnormal frequency point includes a frequency point that is abnormal when sending information; Sending an abnormal frequency point deletion notification, where the abnormal frequency point deletion notification is used to notify the sending end to delete the abnormal frequency point from the target frequency point. The method according to claim 16, wherein said detecting whether said target frequency point is an abnormal frequency point comprises: Acquiring signal parameters of the target frequency when sending information; If the signal parameter of the target frequency point is greater than or equal to the preset signal parameter threshold, and the number of consecutive abnormalities in the connection of the target frequency point is greater than the preset abnormal frequency threshold, the target frequency point is determined to be an abnormal frequency point . The method according to claim 16, wherein the method further comprises: If the number of the target frequency points is less than or equal to the preset frequency point number threshold, enter the step of obtaining communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end. The method according to claim 18, wherein the method further comprises: Record the abnormal information of the abnormal frequency point; Before the determining the target communication quality parameter range according to the communication quality parameter of the reference frequency point among the multiple frequency points, the method further includes: The abnormal frequency points whose abnormal information does not meet the second preset condition are deleted from the multiple frequency points. The method according to claim 19, wherein the abnormal information of the abnormal frequency point comprises: the number of frequency selections and/or the abnormal time of the abnormal frequency point after the abnormal frequency point is determined to be abnormal, and the selection The frequency count is the number of times the target frequency point set is determined, and the deletion of the abnormal frequency points whose abnormal information does not meet the second preset condition from the multiple frequency points includes: Delete abnormal frequency points whose frequency selection times are less than or equal to the preset frequency selection times threshold from the multiple frequency points; and/or, The abnormal frequency points whose abnormal time is less than or equal to the preset abnormal time length threshold are deleted from the multiple frequency points. The method according to claim 16, wherein the method further comprises: If the number of abnormal frequency points is greater than the preset threshold value for the number of abnormal frequency points, the recorded abnormal information of the abnormal frequency points is deleted according to the abnormal time of the abnormal frequency point. The method according to any one of claims 1 to 15, wherein the sending end is a remote control device, the receiving end is an unmanned aerial vehicle, and the remote control device sends the remote control device to the unmanned aerial vehicle through the target frequency. The drone sends a control signal to control the drone to fly. A communication device, characterized in that the device comprises: a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and the processor is used for executing the computer program : Acquiring communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end; Determining a target communication quality parameter range according to the communication quality parameter of a reference frequency point among the multiple frequency points; Determining a target frequency point of the communication quality parameter within the range of the target communication quality parameter from the multiple frequency points; Controlling the sending end to work at the target frequency point to send information to the receiving end. The device according to claim 23, wherein the processor is further configured to: Determining one of the multiple frequency points as a reference frequency point according to the communication quality parameter; The target communication quality parameter range is determined according to the communication quality parameter of the reference frequency point and the preset parameter threshold. The device according to claim 24, wherein the processor is further configured to: Determining, from the multiple frequency points, the frequency point with the smallest communication quality parameter as a reference frequency point; The sum of the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range. The device according to claim 24, wherein the processor is further configured to: Determining, from the multiple frequency points, the frequency point with the largest communication quality parameter as a reference frequency point; The difference between the communication quality parameter of the reference frequency point and the preset parameter threshold is determined as the boundary value of the target communication quality parameter range. The device according to claim 23, wherein the processor is further configured to: Acquiring multiple real parameters of each frequency point in the preset working frequency band of the communication link from the sending end to the receiving end, where the real parameters are a numerical representation of the communication quality of the frequency point; Determine at least one target real parameter of each frequency point from the multiple real parameters of each frequency point; The average value of at least one target real parameter of each frequency point is determined as the communication quality parameter of each frequency point. The device according to claim 23, wherein the preset operating frequency band includes at least two non-continuous frequency bands, and the processor is further configured to: For each of the frequency bands, determining the target communication quality parameter range of the frequency band according to the communication quality parameters of each frequency point in the frequency band; For each of the frequency bands, determine the communication quality parameter of the frequency band according to the frequency points of the communication quality parameter in the frequency band within the target communication quality parameter range of the frequency band; The target frequency band is determined according to the communication quality parameter of the frequency band, and the candidate frequency point of the target frequency band is determined as the target frequency point. The device according to claim 28, wherein the processor is further configured to: Adjusting the communication quality parameters of the frequency bands according to the inherent difference parameters between the different frequency bands; The target frequency band is determined according to the communication quality parameters of the adjusted frequency band, and the candidate frequency point of the target frequency band is determined as the target frequency point. The device according to claim 29, wherein the processor is further configured to: Determine a reference frequency band from the frequency bands; For the remaining frequency bands other than the reference frequency band, the inherent difference parameters between the remaining frequency bands and the reference frequency band are used to adjust the communication quality parameters of the remaining frequency bands. The device according to claim 28, wherein the inherent difference parameter comprises at least one of the following: a path loss difference parameter and a power difference parameter. The device according to claim 28, wherein there are multiple candidate frequency points, and the multiple candidate frequency points constitute a candidate frequency point set, and the processor is further configured to: For each frequency band, the average of the communication quality parameters of each frequency point in the candidate frequency point set of the frequency band is taken as the communication quality parameter of the frequency band, and the candidate frequency point set of the frequency band includes the The frequency point of the communication quality parameter within the range of the target communication quality parameter of the frequency band. The device according to claim 32, wherein the processor is further configured to: If the number of first frequency points included in the set of candidate frequency points of the frequency band is less than the preset frequency point number threshold, the remaining frequency points of the second frequency point number are obtained from the frequency band according to the communication quality parameter, and the remaining frequency points are equal to Any frequency point in the candidate frequency point set is different, and the sum of the first frequency point number and the second frequency point number is the frequency point number threshold; Adding the remaining frequency points to the candidate frequency point set of the frequency band. The apparatus according to claim 29, wherein the communication quality parameter is used to indicate the communication quality of the communication link, and the communication quality parameter includes one of the following: signal-to-noise ratio, packet error rate, noise power Spectral density, the processor is also used for: Determine the adjusted frequency band with the largest signal-to-noise ratio as the target frequency band; or, Determine the adjusted frequency band with the smallest packet error rate as the target frequency band; or, The frequency band with the smallest power spectral density of the interference signal after adjustment is determined as the target frequency band. The device according to claim 28, wherein the processor is further configured to: The frequency points that do not meet the first preset condition are deleted from the frequency band, and the frequency points that do not meet the first preset condition include at least one of the following: frequency points that are not supported by the communication protocol adopted by the communication link , Frequency points not supported by the sending end. The device according to claim 27, wherein the processor is further configured to: If the bandwidth of the preset working frequency band of the communication link from the transmitting end to the receiving end is the first-type bandwidth, then multiple real parameters obtained by performing multiple rounds of measurements on the first-type frequency points are acquired, and the first-type frequency The point is the frequency point obtained according to the first frequency interval; If the bandwidth of the preset working frequency band of the communication link from the transmitting end to the receiving end is the second-type bandwidth, then multiple real parameters of the second-type frequency points are acquired, and the second-type frequency points are based on the second frequency The obtained frequency points are separated from each other, the second frequency interval is greater than the first frequency interval, and the second type bandwidth is greater than the first type bandwidth. The device according to claim 36, wherein the processor is further configured to: For a frequency point that is the second type frequency point and the first type frequency point, acquiring multiple true parameters obtained by performing multiple rounds of measurement on the frequency point; For the frequency points to be inserted that are the frequency points of the second type but not the frequency points of the first type, according to multiple real parameters of the frequency points adjacent to the frequency points to be inserted in the frequency points of the first type , Determine the multiple real parameters of the frequency points to be inserted. The device according to any one of claims 23 to 37, wherein the processor is further configured to: Detecting whether the target frequency point is an abnormal frequency point, and the abnormal frequency point includes a frequency point that is abnormal when sending information; Sending an abnormal frequency point deletion notification, where the abnormal frequency point deletion notification is used to notify the sending end to delete the abnormal frequency point from the target frequency point. The apparatus according to claim 38, wherein the processor is further configured to: Acquiring signal parameters of the target frequency when sending information; If the signal parameter of the target frequency point is greater than or equal to the preset signal parameter threshold, and the number of consecutive abnormalities in the connection of the target frequency point is greater than the preset abnormal frequency threshold, the target frequency point is determined to be an abnormal frequency point . The device according to claim 38, wherein the processor is further configured to: If the number of the target frequency points is less than or equal to the preset frequency point number threshold, enter the step of obtaining communication quality parameters of multiple frequency points in the preset working frequency band of the communication link from the sending end to the receiving end. The device according to claim 40, wherein the processor is further configured to: Record the abnormal information of the abnormal frequency point; The abnormal frequency points whose abnormal information does not meet the second preset condition are deleted from the multiple frequency points. The device according to claim 41, wherein the abnormal information of the abnormal frequency point comprises: the number of frequency selections and/or the abnormal time of the abnormal frequency point after the abnormal frequency point is determined to be abnormal, and the selection The frequency count is the number of times the target frequency point set is determined, and the processor is further configured to: Delete abnormal frequency points whose frequency selection times are less than or equal to the preset frequency selection times threshold from the multiple frequency points; and/or, The abnormal frequency points whose abnormal time is less than or equal to the preset abnormal time length threshold are deleted from the multiple frequency points. The device according to claim 38, wherein the processor is further configured to: If the number of abnormal frequency points is greater than the preset threshold value for the number of abnormal frequency points, the recorded abnormal information of the abnormal frequency points is deleted according to the abnormal time of the abnormal frequency point. The apparatus according to any one of claims 23 to 38, wherein the sending end is a remote control device, the receiving end is an unmanned aerial vehicle, and the remote control device sends the remote control device to the unmanned aerial vehicle through the target frequency. The drone sends a control signal to control the drone to fly. An unmanned aerial vehicle, characterized by comprising the device according to any one of claims 23 to 44.

Images