Interference processing method, interference processing device and control equipment

文档序号：1967099 发布日期：2021-12-14 浏览：17次中文

阅读说明：本技术 一种干扰处理方法、干扰处理装置及控制设备 (Interference processing method, interference processing device and control equipment ) 是由张志鹏高建南刘欢于 2020-09-29 设计创作，主要内容包括：本发明实施例提供一种干扰处理方法、干扰处理装置及控制设备。其中,干扰处理方法包括：对目标频段进行信道干扰扫描,并获取信道干扰扫描结果；与可移动平台传输任务数据,并获取在传输过程中的传输质量信息；响应于信道干扰扫描结果满足第一条件、且传输质量信息满足第二条件,进行抗干扰处理。可见,本发明实施例提供了一种干扰信号的评价指标,通过第一条件和第二条件来综合判断当前周围环境中的干扰信号是否明显影响控制设备与可移动平台之间的通信,进而提高抗干扰处理的精准度。(The embodiment of the invention provides an interference processing method, an interference processing device and control equipment. The interference processing method comprises the following steps: performing channel interference scanning on a target frequency band, and acquiring a channel interference scanning result; transmitting task data with a movable platform and acquiring transmission quality information in the transmission process; and responding to the channel interference scanning result meeting the first condition and the transmission quality information meeting the second condition, and performing anti-interference processing. Therefore, the embodiment of the invention provides an evaluation index of the interference signal, and whether the communication between the control equipment and the movable platform is obviously influenced by the interference signal in the current surrounding environment is comprehensively judged through the first condition and the second condition, so that the accuracy of anti-interference processing is improved.)

1. An interference processing method, applied to a control device, the control device being configured to interact data with a movable platform, the method comprising:

Performing channel interference scanning on a target frequency band, and acquiring a channel interference scanning result;

transmitting task data with a movable platform and acquiring transmission quality information in the transmission process;

and responding to the channel interference scanning result meeting a first condition and the transmission quality information meeting a second condition, and performing anti-interference processing.

2. The method of claim 1, wherein in response to obtaining a channel interference scan result, the method further comprises:

judging whether an interference signal with the signal intensity higher than a signal intensity threshold exists in a target channel within a first range duration according to the channel interference scanning result;

if yes, judging whether the duration ratio is greater than a duration ratio threshold, wherein the duration ratio comprises: a ratio of an existing time length of the interference signal to the first range time length in the channel interference scanning result;

and if the time length ratio is greater than the time length ratio threshold, judging that the channel interference scanning result meets a first condition.

3. The method of claim 2, wherein the set signal strength threshold comprises a first strength threshold and a second strength threshold, and wherein the set duration proportion threshold comprises a first proportion threshold and a second proportion threshold;

If an interference signal with signal intensity higher than the first intensity threshold exists in the target channel and the time length ratio is greater than the first proportional threshold, the target channel has intra-channel interference, and it is determined that the channel interference scanning result meets a first condition; and/or

If an interference signal with signal intensity higher than the second intensity threshold exists in the target channel and the time length ratio is greater than the second proportion threshold, the target channel has out-of-channel interference, and it is determined that the channel interference scanning result meets a first condition;

wherein the first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is less than the second proportional threshold.

4. The method according to any one of claims 1-3, further comprising:

and responding to the channel interference scanning result meeting a first condition, setting an interference flag bit, wherein the set interference flag bit is used for prompting that the current channel has interference.

5. The method of claim 4, further comprising:

and if the channel interference scanning result does not meet the first condition within a preset time after the channel interference scanning result meets the first condition, or the control equipment is restarted, eliminating the setting of the interference flag bit.

6. The method of claim 1, wherein the transmission quality information includes frequency band information of a transmission channel of the task data, a transmission distance of the task data; the transmission quality information satisfying the second condition includes:

and the frequency band information of the transmission channel of the task data is matched with the target frequency band, and the transmission distance is greater than a distance threshold value.

7. The method of claim 6, wherein the transmission quality information comprises a quality parameter of a target image frame, the target image frame being an image frame having a signal-to-noise ratio below a signal-to-noise ratio threshold for a second range of durations; the transmission quality information satisfying the second condition further includes:

and the quality parameter of the target image frame in the second range duration is greater than the first parameter threshold.

8. The method of claim 7, wherein the transmission quality information further comprises a historical signal-to-noise ratio, and wherein the signal-to-noise ratio threshold is calculated by calculating an average signal-to-noise ratio of image frames in the task data in the second range of durations with the historical signal-to-noise ratio.

9. The method according to any of claims 6-8, wherein the transmission quality information comprises a number of transmissions of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

And the retransmission parameter of the retransmission image frame determined in the third range of the time length is larger than the second parameter threshold value.

10. The method of claim 9, wherein the retransmission parameters for the retransmitted image frame comprise: the number of the retransmitted image frames or a ratio of the retransmitted image frames to the image frames within the third range duration.

11. The method of claim 9, wherein the retransmitted image frame is a key frame, and wherein the retransmission parameters comprise: the number of key frame requests.

12. The method according to any of claims 6-11, wherein the transmission quality information comprises residual error information; the transmission quality information satisfying the second condition further includes:

and determining that the image frame with transmission failure exists in the fourth range duration according to the residual error information.

13. The method of claim 1, wherein performing interference rejection processing comprises:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state, sending interference prompt information to the associated equipment.

14. The method of claim 1, wherein performing interference rejection processing comprises:

generating interference prompt information, wherein the interference prompt information is used for prompting that Bluetooth interference exists in the current environment;

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in the closed state, discarding the interference prompt information.

15. The method of claim 1, wherein performing interference rejection processing comprises:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state, sending a Bluetooth closing instruction to the associated equipment.

16. The method of claim 1, wherein the transmission quality information comprises the task data transmission quality level; the anti-interference processing comprises the following steps:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state and the transmission quality information meets a third condition, sending a Bluetooth closing instruction to the associated equipment.

17. The method of claim 1, wherein the transmission quality information comprises an identification of the task data; the anti-interference processing comprises the following steps:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state and the identification of the task data is matched with the target identification, sending a Bluetooth closing instruction to the associated equipment.

18. An interference processing apparatus, comprising:

the device comprises an acquisition unit, a frequency conversion unit and a frequency conversion unit, wherein the acquisition unit is used for scanning the channel interference of a target frequency band and acquiring a channel interference scanning result; transmitting task data with a movable platform and acquiring transmission quality information in the transmission process;

and the processor is used for responding to the channel interference scanning result meeting a first condition and the transmission quality information meeting a second condition and carrying out anti-interference processing.

19. The apparatus of claim 18, wherein the processor further performs the following:

If yes, judging whether the duration ratio is greater than a duration ratio threshold, wherein the duration ratio comprises: a ratio of an existing time length of the interference signal to the first range time length in the channel interference scanning result;

and if the time length ratio is greater than the time length ratio threshold, judging that the channel interference scanning result meets a first condition.

20. The apparatus of claim 19, wherein the set signal strength threshold comprises a first strength threshold and a second strength threshold, and wherein the set duration proportion threshold comprises a first proportion threshold and a second proportion threshold;

if an interference signal with signal intensity higher than the first intensity threshold exists in the target channel and the time length ratio is greater than the first proportional threshold, the target channel has intra-channel interference, and it is determined that the channel interference scanning result meets a first condition; and/or

Wherein the first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is less than the second proportional threshold.

21. The apparatus of any of claims 18-20, wherein the processor further performs the following:

22. The apparatus of claim 21, wherein the processor further performs the following:

23. The apparatus of claim 18, wherein the transmission quality information includes frequency band information of a transmission channel of the task data, and a transmission distance of the task data; the transmission quality information satisfying the second condition includes:

and the frequency band information of the transmission channel of the task data is matched with the target frequency band, and the transmission distance is greater than a distance threshold value.

24. The apparatus of claim 23, wherein the transmission quality information comprises a quality parameter for a target image frame, the target image frame being an image frame having a signal-to-noise ratio below a signal-to-noise ratio threshold for a second range of durations; the transmission quality information satisfying the second condition further includes:

and the quality parameter of the target image frame in the second range duration is greater than the first parameter threshold.

25. The apparatus of claim 24, wherein the transmission quality information further comprises a historical signal-to-noise ratio, and wherein the signal-to-noise ratio threshold is calculated by calculating an average signal-to-noise ratio of image frames in the task data in the second range of durations and the historical signal-to-noise ratio.

26. The apparatus according to any of claims 23-25, wherein the transmission quality information comprises a number of transmissions of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

and the retransmission parameter of the retransmission image frame determined in the third range of the time length is larger than the second parameter threshold value.

27. The apparatus of claim 26, wherein the retransmission parameters for the retransmitted image frame comprise: the number of the retransmitted image frames or a ratio of the retransmitted image frames to the image frames within the third range duration.

28. The apparatus of claim 26, wherein the retransmitted image frame is a key frame, and wherein the retransmission parameters comprise: the number of key frame requests.

29. The apparatus according to any of claims 23-28, wherein the transmission quality information comprises residual error information; the transmission quality information satisfying the second condition further includes:

and determining that the image frame with transmission failure exists in the fourth range duration according to the residual error information.

30. The apparatus of claim 18, wherein the processor performs the immunity processing by:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment through the acquisition unit;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state, sending interference prompt information to the associated equipment.

31. The apparatus of claim 18, wherein the processor performs the immunity processing by:

generating interference prompt information, wherein the interference prompt information is used for prompting that Bluetooth interference exists in the current environment;

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment through the acquisition unit;

And if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in the closed state, discarding the interference prompt information.

32. The apparatus of claim 18, wherein the processor performs the immunity processing by:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment through the acquisition unit;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state, sending a Bluetooth closing instruction to the associated equipment.

33. The apparatus of claim 18, wherein the transmission quality information comprises the task data transmission quality level; when the processor carries out anti-interference processing, the following operations are executed:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment through the acquisition unit;

34. The apparatus of claim 18, wherein the transmission quality information comprises an identification of the task data; when the processor carries out anti-interference processing, the following operations are executed:

Acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment through the acquisition unit;

35. A control device, wherein the control device is coupled to a movable platform, the control device comprising a processor and a memory:

the memory to store computer readable instructions;

the processor invoking the instructions, the instructions when executed, to:

performing channel interference scanning on a target frequency band, and acquiring a channel interference scanning result;

transmitting task data with a movable platform and acquiring transmission quality information in the transmission process;

and responding to the channel interference scanning result meeting a first condition and the transmission quality information meeting a second condition, and performing anti-interference processing.

36. The device of claim 35, wherein the processor, when the instructions are executed, is further configured to:

and if the time length ratio is greater than the time length ratio threshold, judging that the channel interference scanning result meets a first condition.

37. The apparatus of claim 36, wherein the set signal strength threshold comprises a first strength threshold and a second strength threshold, and wherein the set duration proportion threshold comprises a first proportion threshold and a second proportion threshold;

Wherein the first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is less than the second proportional threshold.

38. The device of any one of claims 35-37, wherein the processor, when the instructions are executed, is further configured to:

39. The device of claim 38, wherein the processor, when the instructions are executed, is further configured to:

40. The device according to claim 35, wherein the transmission quality information includes frequency band information of a transmission channel of the task data, a transmission distance of the task data; the transmission quality information satisfying the second condition includes:

and the frequency band information of the transmission channel of the task data is matched with the target frequency band, and the transmission distance is greater than a distance threshold value.

41. The device of claim 40, wherein the transmission quality information comprises a quality parameter for a target image frame, the target image frame being an image frame having a signal-to-noise ratio below a signal-to-noise ratio threshold for a second range of durations; the transmission quality information satisfying the second condition further includes:

and the quality parameter of the target image frame in the second range duration is greater than the first parameter threshold.

42. The device of claim 41, wherein the transmission quality information further comprises a historical signal-to-noise ratio, and wherein the signal-to-noise ratio threshold is computed from an average signal-to-noise ratio of image frames in the task data over the second range of durations and the historical signal-to-noise ratio.

43. The device according to any of claims 40-42, wherein the transmission quality information comprises a number of transmissions of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

and the retransmission parameter of the retransmission image frame determined in the third range of the time length is larger than the second parameter threshold value.

44. The device of claim 43, wherein the retransmission parameters for the retransmitted image frame comprise: the number of the retransmitted image frames or a ratio of the retransmitted image frames to the image frames within the third range duration.

45. The device of claim 43, wherein the retransmitted image frame is a key frame, and wherein the retransmission parameters comprise: the number of key frame requests.

46. The apparatus of claims 40-45, wherein the transmission quality information comprises residual error information; the transmission quality information satisfying the second condition further includes:

and determining that the image frame with transmission failure exists in the fourth range duration according to the residual error information.

47. The apparatus of claim 35, wherein the processor performs the interference rejection processing by:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state, sending interference prompt information to the associated equipment.

48. The apparatus of claim 35, wherein the processor performs the interference rejection processing by:

generating interference prompt information, wherein the interference prompt information is used for prompting that Bluetooth interference exists in the current environment;

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

And if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in the closed state, discarding the interference prompt information.

49. The apparatus of claim 35, wherein the processor performs the interference rejection processing by:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

and if the Bluetooth state information indicates that the Bluetooth of the associated equipment is in an open state, sending a Bluetooth closing instruction to the associated equipment.

50. The apparatus of claim 35, wherein the transmission quality information comprises the task data transmission quality level; the specific implementation mode of the processor for carrying out anti-interference processing is as follows:

acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

51. The apparatus of claim 35, wherein the transmission quality information comprises an identification of the task data; the specific implementation mode of the processor for carrying out anti-interference processing is as follows:

Acquiring Bluetooth state information of associated equipment of the surrounding environment of the control equipment;

52. A computer-readable storage medium having computer-readable instructions stored therein, which, when executed by a processor, cause the processor to perform the interference processing method of any one of claims 1-17.

Technical Field

The present invention relates to the field of signal detection technologies, and in particular, to an interference processing method, an interference processing apparatus, and a control device.

Background

The movable platform (such as an unmanned aerial vehicle, a robot and the like) is widely applied to the fields of image shooting, safety inspection, agricultural plant protection and the like due to the characteristics of flexible operation, capability of working on complex terrains and the like. Due to the complex operating environment of the movable platform, there may be low duty cycle signal interference in some environments. For example, when a user operates a mobile platform, the bluetooth functions of a mobile terminal device and a wearable device that are carried around may be in an operating state (for example, the user uses a wireless bluetooth headset, wears a smart band, and the like), which may affect the data transmission quality of the mobile platform.

Disclosure of Invention

The embodiment of the invention provides an interference processing method, an interference processing device and control equipment, which can be used for carrying out interference processing on signals.

A first aspect of an embodiment of the present invention is to provide an interference processing method, which is applicable to a control device, where the control device is configured to interact data with a movable platform, and the method includes:

performing channel interference scanning on a target frequency band, and acquiring a channel interference scanning result;

transmitting task data with a movable platform and acquiring transmission quality information in the transmission process;

and responding to the channel interference scanning result meeting a first condition and the transmission quality information meeting a second condition, and performing anti-interference processing.

A second aspect of an embodiment of the present invention provides an interference processing apparatus, including:

A third aspect of embodiments of the present invention is to provide a control device, the control device being connected to a movable platform, the control device including a processor and a memory:

the memory to store computer readable instructions;

the processor invoking the instructions, the instructions when executed, to:

performing channel interference scanning on a target frequency band, and acquiring a channel interference scanning result;

transmitting task data with a movable platform and acquiring transmission quality information in the transmission process;

and responding to the channel interference scanning result meeting a first condition and the transmission quality information meeting a second condition, and performing anti-interference processing.

A fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium, wherein computer-readable instructions are stored in the computer-readable storage medium, and when executed by a processor, the computer-readable instructions cause the processor to execute the above interference processing method.

The embodiment of the invention monitors the intensity of the surrounding interference signal (such as Bluetooth interference) by scanning a target frequency band, comprehensively judges whether the interference signal in the current surrounding environment obviously influences the communication between the control device and the movable platform by monitoring the transmission quality information (such as the quality of transmitted pictures or videos) of the movable platform in the data transmission process, and carries out anti-interference processing in response to the interference signal obviously influencing the communication between the control device and the movable platform. Therefore, the embodiment of the invention provides an evaluation index of an interference signal, which is used for measuring the intensity of the interference signal (influence on data transmission), so that the accuracy of anti-interference processing is improved.

Drawings

Fig. 1a is a schematic view of an application scenario of interference processing according to an embodiment of the present invention;

FIG. 1b is a schematic diagram of a waveform of an interference signal according to an embodiment of the present invention;

FIG. 1c is a schematic diagram of another exemplary interference signal according to the present invention;

fig. 2 is a schematic flow chart of an interference processing method according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of another interference processing method according to an embodiment of the present invention;

fig. 4 is a structural diagram of an interference processing apparatus according to an embodiment of the present invention;

fig. 5 is a structural diagram of a control device according to an embodiment of the present invention.

Detailed Description

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

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

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

The embodiment of the invention provides an interference processing method, which is used for carrying out anti-interference processing when the condition that surrounding interference signals obviously influence the data transmission quality of a movable platform is detected. The following presents a scenario in which the present invention may be applied.

As shown in fig. 1a, the scenario includes a control device 101 and a movable platform 102. The control device 101 is a device used by a user, the form of the control device 101 is only used for example, and the control device 101 may include but is not limited to: remote controllers, smart phones (such as Android phones and iOS phones), tablet computers, portable personal computers, mobile internet devices (MID for short), and other devices having a wireless communication function. The movable platform 102 is a smart device controlled by the control device 101, the form of the movable platform 102 is only used for example, and the movable platform 102 may include, but is not limited to, an unmanned aerial vehicle, an unmanned navigation vehicle, an unmanned vehicle, a robot, and the like movable smart devices that can be operated by the control device 101 and perform a target action.

Since the user of the control device 101 is using the control device 101 to control the movable platform 102, it is possible that the wireless communication device is also being used at the same time; for example, wearable devices (smart band, TWS headset, etc.). These wireless communication devices may generate interfering signals (e.g., bluetooth signals) that may affect the data transmission quality of the movable platform to varying degrees. Fig. 1b is a schematic waveform diagram of an interference signal according to an embodiment of the present invention. As shown in fig. 1b, the x-axis is used to represent a time line, and the y-axis is used to represent the signal strength of the interference signal, i.e. fig. 1b is a waveform diagram of the signal strength of the interference signal with time within 0s-300 ms. As can be seen from the waveform diagram shown in fig. 1b, the interference signal is a low duty cycle signal, and when the signal strength of the interference signal exceeds a strength threshold (e.g., -30dBm), the interference signal may have a significant impact (interference) on the communication between the control device and the movable platform.

Fig. 1c is a schematic waveform diagram of another interference signal according to an embodiment of the present invention. As shown in fig. 1c, the x-axis is used to represent frequency, and the y-axis is used to represent signal strength of the interference signal, which can be seen from fig. 1c (at different frequencies) in different channels of the target frequency band. It can be seen that data transmitted in any channel in the target frequency band may be affected by the interference signal.

The invention provides an interference processing method, on one hand, a control device monitors the intensity of a peripheral interference signal (such as Bluetooth interference) by scanning a target frequency band, on the other hand, the control device comprehensively judges whether the interference signal in the current peripheral environment obviously influences the communication between the control device and a movable platform by monitoring the transmission quality information (such as transmitted picture or video quality) of the control device and the movable platform in the data transmission process, and in response to the interference signal obviously influencing the communication between the control device and the movable platform, the control device carries out anti-interference processing (such as generating interference prompt information, closing Bluetooth of peripheral environment devices and the like). The interference processing method provided by the present invention is explained in detail below.

Referring to fig. 2, fig. 2 is a flowchart illustrating an interference processing method according to an embodiment of the present invention. As shown in fig. 2, the interference handling method may include steps 201 and 203. Wherein:

201. and the control equipment performs channel interference scanning on the target frequency band and acquires a channel interference scanning result.

The target frequency band refers to a frequency band for transmitting task data between the control equipment and the movable platform; for example, a 2.4G band or a 5.8G band. The target frequency band comprises a plurality of channels, and the control device performs channel interference scanning on the target frequency band means that the control device performs interference scanning on one channel in the target frequency band at different time intervals. For example, assuming that the target frequency band includes channels 1 to 3, the control device performs channel interference scanning on channel 1 from 1 st second to 2 nd second, scans channel 3 from 2 nd second to 3 rd second, and performs interference scanning on channel 2 from 4 th second to 6 th second. The channel interference scanning result includes the signal strength of the interference signal scanned in the target frequency band during the channel interference scanning.

202. The control device and the movable platform transmit the task data and acquire transmission quality information in the transmission process.

The task data includes image frame data collected during the operation of the movable platform and position information (such as height, distance from the control device, etc.) of the movable platform. The transmission quality information is used for measuring the quality of the task data in the transmission process, and the transmission quality information is obtained by direct or indirect calculation of the control equipment according to the task data transmitted by the movable platform. The transmission quality information may include one or more of the following parameters: quality parameters (such as signal-to-noise ratio (SNR)) of image frame data acquired by the movable platform in the operation process, retransmission parameters (such as the number of retransmitted image frames (transmission times are more than 1) in unit time) of the image frame data acquired by the movable platform in the operation process, residual error information of the image frame data acquired by the movable platform in the operation process, and the like.

203. And in response to the channel interference scanning result meeting the first condition and the transmission quality information meeting the second condition, controlling the equipment to perform anti-interference processing.

Satisfying the first condition may be indicative of the channel interference scan result directly or indirectly indicating that an interfering signal having a strength above a strength threshold (e.g., -30dBm) is scanned during the channel interference scan. Further, the time length of the interference signal whose signal strength is higher than the strength threshold in a unit time (such as a preset time length or a channel interference scanning period) is greater than the time length threshold.

Meeting the second condition means that the quality of the transmitted task data does not reach the standard (such as unclear transmitted image, stuck transmitted video, etc.). In one embodiment, meeting the second condition may indicate that one or more parameters of the transmission quality information are not met (e.g., an average signal-to-noise ratio of the transmitted image frames is below a signal-to-noise ratio threshold, a percentage of retransmitted image frames per unit time is above a scaling threshold, etc.).

The anti-interference processing means that when the control device determines that the interference signal can obviously affect the control device and the movable platform to transmit task data (namely, the channel interference scanning result meets the first condition and the transmission quality information meets the second condition), the control device correspondingly performs anti-interference processing according to different actual conditions. The anti-tamper processing may include one or more of: (1) when the control device is in a connection state with the surrounding environment device (such as a mobile terminal device of a user) and detects that the Bluetooth function in the surrounding environment device is in an on state, the Bluetooth function in the surrounding environment device is turned off. (2) When the control device and the surrounding environment device are in a connection state and the Bluetooth in the surrounding environment device is detected to be in an opening state, prompt information is sent to the surrounding environment device, and the prompt information is used for prompting a user that the Bluetooth in the surrounding environment device can influence the control device and the movable platform to transmit task data. (3) When the control equipment is not connected with the surrounding environment equipment, prompting is carried out on the user through the control equipment (such as voice prompt playing, prompt information displaying and the like).

On one hand, the control device monitors the intensity of a peripheral interference signal (such as Bluetooth interference) by scanning a target frequency band, on the other hand, the control device comprehensively judges whether the interference signal in the current peripheral environment obviously influences the communication between the control device and the movable platform by monitoring transmission quality information (such as the definition, the fluency and the like of a transmitted picture or video) of the control device and the movable platform in the data transmission process, and the control device carries out anti-interference processing in response to the interference signal obviously influencing the communication between the control device and the movable platform. Therefore, the embodiment of the invention provides an evaluation index of the interference signal, and whether the interference signal needs to be subjected to anti-interference processing is determined according to the influence degree of the interference signal on data transmission, so that the accuracy of the anti-interference processing is improved, and the user experience is improved.

Referring to fig. 3, fig. 3 is a flowchart illustrating another interference processing method according to an embodiment of the present invention. As shown in fig. 3, the interference handling method may include steps 301-307. Wherein:

301. and the control equipment performs channel interference scanning on the target frequency band and acquires a channel interference scanning result.

The specific implementation of step 301 may refer to the implementation of step 201 in fig. 2, and is not described herein again.

302. The control device determines whether an interfering signal having a signal strength higher than a signal strength threshold exists in the target channel within the first range duration.

The target channel may be any channel in the target frequency band. The first range duration may refer to a continuous period (e.g., 1s, 10s) when the control device scans the target channel, or the first range duration may be accumulated by a plurality of discontinuous periods; for example, assuming that the first range duration is 10s, and the control device has scanned the target channel 3 times at 10 th to 12 th seconds of the first minute, 47 th to 51 th seconds of the first minute, and 7 th to 11 th seconds of the second minute, respectively, the first range duration is accumulated by three discontinuous periods. If the control device scans an interference signal with a signal strength higher than a strength threshold (such as-30 dBm) during the interference scanning of the target channel, determining that the interference signal exists, and continuing to execute step 303; for example, assuming that the strength threshold is-30 dBm, and the control device scans for the strength threshold of-20 dBm for the target channel signal 1 within the first range duration, the control device determines that an interfering signal is present in the target channel. And if the control equipment does not scan the interference signals with the signal intensity higher than the intensity threshold value during the interference scanning period of the target channel, judging that no interference signals exist.

303. If the interference signal with the signal intensity higher than the signal intensity threshold exists in the target channel in the first range of time length, the control equipment judges whether the time length ratio is larger than the time length proportion threshold.

The duration ratio refers to a ratio of the duration of existence of an interference signal (a signal with a signal strength higher than the strength threshold) in the channel interference scanning result to the duration of the first range. It is to be understood that, assuming that the signal strength of the signal 1 is higher than the strength threshold value from the 1 st second to the 5 th second and is lower than the strength threshold value from the 5 th second to the 10 th second, the control device determines that the signal 1 is an interference signal from the 1 st second to the 5 th second and is not an interference signal from the 5 th second to the 10 th second. The control device judges whether the time length ratio is greater than the time length ratio threshold value: the control device determines the amount of time that the interfering signal is present within the first range of time durations. It can be understood that the shorter the time during which the interference signal is present in the first range duration, the less the effect on the task data transmission is; the longer the interfering signal is present within the first range duration, the greater the impact on the mission data transmission.

Correspondingly, if no interference signal with the signal intensity higher than the signal intensity threshold exists in the target channel within the first range of the time length, or the time length ratio is smaller than the time length ratio threshold, the control device ends the interference processing.

304. And if the time length ratio is greater than the time length ratio threshold, the control equipment judges that the channel interference scanning result meets a first condition.

In one embodiment, the signal strength threshold comprises a first strength threshold and a second strength threshold, and the duration ratio threshold comprises a first ratio threshold and a second ratio threshold. If an interference signal with signal intensity higher than a first intensity threshold exists in the target channel and the time length ratio is greater than a first proportional threshold, the target channel has intra-channel interference, and it is determined that the channel interference scanning result meets a first condition. If an interference signal with signal intensity higher than the second intensity threshold exists in the target channel and the time length ratio is greater than the second proportion threshold, the target channel has out-of-channel interference (that is, the interference signal with intensity higher than the intensity threshold exists in other channels outside the target channel), and it is determined that the channel interference scanning result meets the first condition. The first intensity threshold is larger than the second intensity threshold, and the first proportion threshold is smaller than the second proportion threshold. For example, assuming that directly scanning for interference signals during the target channel interference scanning process means that interference signals with intensity higher than a dBm are scanned in the target frequency band with probability > a% in the time of cumulative T0, indirectly scanning for interference signals during the target channel interference scanning process means that interference signals with intensity higher than B dBm are scanned in the target frequency band with probability > B% in the time of cumulative T0, where B > a and B < a. In one embodiment, a may be 1, a may be-50 dBm, B may be 5, B may be-80 dBm, and T0 may be 20 s.

305. In response to the channel interference scan result satisfying a first condition, the control device sets an interference flag.

The interference flag bit is used for indicating that the channel interference scanning result meets a first condition. The interference flag may be dominant, such as an indicator light corresponding to the interference flag on the control device; the interference flag bit may also be implicit, such as a field corresponding to the interference flag bit.

In one embodiment, if the channel interference scanning result is within a predetermined time (e.g. 5 minutes) after the interference flag is set, none of the channel interference scanning results satisfies the first condition; or the control device is restarted, the setting of the interference flag bit is eliminated (for example, an indicator light of the interference flag bit is turned off, a field corresponding to the interference flag bit is configured to an invalid value, and the like).

306. The control device and the movable platform transmit the task data and acquire transmission quality information in the transmission process.

The transmission quality information includes at least one of: the task data transmission method comprises the steps of information of a frequency band (namely a transmission frequency band of the task data) to which a transmission channel of the task data belongs, a transmission distance of the task data, a quality parameter of a target image frame, a historical signal-to-noise ratio, transmission times of each image frame in the task data and residual error information. The transmission distance of the task data refers to the distance between the current control equipment and the movable platform; the target image frame is an image frame with a signal-to-noise ratio lower than the signal-to-noise ratio threshold (i.e. an image frame with unqualified image quality) in a second range of duration (e.g. 1 minute); the residual error information is used to indicate that the image frame that failed to be transmitted is still transmitted after a number of transmissions have been made.

In one embodiment, the signal-to-noise threshold is calculated based on an average signal-to-noise ratio of image frames in the task data within the second range of durations; for example, assume that the average signal-to-noise ratio of the image frames in the task data in the second range duration is 30dB, and the threshold signal-to-noise ratio is 30-C, C > 0. For another example, at a time T1 in the past, the snr of the downlink frame is D% lower than the average snr by more than D dB, where a and B respectively correspond to the above-mentioned interference signal with the strength higher than a dBm scanned in the target frequency band with the probability > a% in the accumulated time T0, and the interference signal with the strength higher than B dBm scanned in the target frequency band with the probability > B% in the accumulated time T0. In one embodiment, it is required that D > (a + b) so D may take on the value 6 and D may take on the value 5.

307. And in response to the channel interference scanning result meeting the first condition and the transmission quality information meeting the second condition, controlling the equipment to perform anti-interference processing.

The first sub-condition of the second condition is: the frequency band information of the transmission channel of the task data is matched with the target frequency band (i.e. the task data is transmitted in the target frequency band, for example, the frequency band may be 2.4G), and the current transmission distance is greater than the distance threshold (e.g. 100 meters, 200 meters, etc.).

The second sub-condition of the second condition is: the quality parameter of the target image frame in the second range duration is greater than the first parameter threshold. The quality parameter of the target image frame includes a ratio of the number of the target image frames in the second range duration to the number of the image frames transmitted in the second range duration (i.e., a ratio of the target image frames in the second range duration). In one embodiment, the quality parameter of the target image frame being greater than the first parameter threshold for the second range duration means that the percentage of the target image frame in the second range duration exceeds the ratio threshold; for example, assuming that the first parameter threshold is 10%, the number of target image frames in the second range duration is 15, and the number of image frames transmitted in the second range duration is 100, the occupation ratio of the target image frames in the second range duration is 15% > 10%, and the control device determines that the transmission quality information satisfies the second sub-condition of the second condition.

The third sub-condition of the second condition is: and the retransmission parameter of the retransmission image frame determined in the third range of the time length is larger than the second parameter threshold value. The image frame retransmission refers to an image frame which is transmitted more than 1 time within the duration of the third range. In one embodiment, the retransmission parameter for the retransmitted image frames includes a number of retransmitted image frames, and the determination that the retransmission parameter for the retransmitted image frames is greater than the second parameter threshold for the third range duration means that the number of retransmitted image frames exceeds a specified number (e.g., 10 frames) for the third range duration. In another embodiment, the retransmission parameter for the retransmitted image frames includes a ratio of the number of retransmitted image frames in the third range duration to the number of image frames transmitted in the third range duration (i.e., a fraction of the retransmitted image frames in the third range duration). The retransmission parameter of the retransmission image frame determined within the third range duration being greater than the second parameter threshold means that the percentage of the retransmission image frame exceeds a specified ratio (for example, 12% of downlink frames are retransmitted within 200 ms). In yet another embodiment, the retransmitted image frame is a key frame and the retransmission parameter includes a number of key frame requests. A retransmission parameter for the retransmitted image frame determined within the third range duration that is greater than the second parameter threshold means that the number of key frame requests within the third range duration exceeds a specified number (e.g., 1 key frame request).

The fourth sub-condition of the second condition is: the control equipment determines that the image frame with transmission failure exists in the fourth range duration according to the residual error information; for example, the fourth range is from 10 seconds to 20 seconds in duration, and the control apparatus determines that a transmission residual error occurs in the image frame 1 at 18 seconds based on the residual error information, the control apparatus determines that the transmission quality information satisfies the fourth sub-condition of the second condition.

It should be noted that, the transmission quality information satisfying the second condition may be: the transmission quality information satisfies a first sub-condition of a second condition; or the transmission quality information satisfies a first sub-condition and a second sub-condition of a second condition; or the transmission quality information satisfies a first sub-condition and a third sub-condition of the second condition; or the transmission quality information satisfies a first sub-condition and a fourth sub-condition of the second condition; or the transmission quality information satisfies a first sub-condition, a second sub-condition and a third sub-condition of a second condition; or the transmission quality information satisfies a first sub-condition, a second sub-condition and a fourth sub-condition of a second condition; or the transmission quality information satisfies a first sub-condition, a third sub-condition and a fourth sub-condition of the second condition; or the transmission quality information satisfies a first sub-condition, a second sub-condition, a third sub-condition, and a fourth sub-condition of the second condition.

In one embodiment, the mobile platform is performing a task of general importance (e.g., agricultural plant protection, etc.), and the control device is connected to the devices associated with the surrounding environment in a direct or indirect manner (e.g., the control device is connected directly to the user's cell phone, which is connected to one or more wearable devices). The associated device of the surrounding environment comprises: the mobile terminal device (such as a mobile phone, a notebook computer and the like), the wireless earphone, the smart band, the VR glasses and the like. The control equipment performs anti-interference processing, namely: the control device obtains bluetooth state information of the device associated with the surrounding environment, and if the bluetooth state information of the device associated with the surrounding environment indicates that the bluetooth of the device is in an on state, the control device executes a prompt operation (such as playing prompt voice, displaying prompt information and the like) or sends the prompt information to the device associated with the surrounding environment. The prompt voice and the prompt message are used for prompting the user to close the Bluetooth function of the associated equipment in the surrounding environment so as to improve the transmission quality of the task data.

Further, if the control device still detects that the bluetooth of the device is in the on state within a target time period (e.g., 5 minutes after the prompt information is sent) after sending the prompt information to the associated device of the surrounding environment, and the interference scanning result satisfies the first condition and the transmission quality information satisfies the second condition, the control device sends the prompt information to the associated device of the surrounding environment again. Optionally, after sending the prompt information N times, the control device does not send the prompt information any more, where N is a positive integer and N is greater than or equal to 2.

In another embodiment, the control device is connected to the devices associated with the surroundings in a direct or indirect manner. In response to the channel interference scanning result meeting the first condition and the transmission quality information meeting the second condition, the control device generates interference prompt information, and the interference prompt information is used for prompting that signal (such as Bluetooth) interference exists in the current environment. The control equipment performs anti-interference processing, namely: the control equipment acquires Bluetooth state information of the associated equipment of the surrounding environment, and if the Bluetooth state information of the associated equipment of the surrounding environment indicates that the Bluetooth of the equipment is in an off state, the control equipment discards the interference prompt information.

In yet another embodiment, the mobile platform is performing a more important task (e.g., forest fire fighting, live broadcast, etc.), and the control device is connected to the associated devices of the surrounding environment in a direct or indirect manner. The control equipment performs anti-interference processing, namely: the control equipment acquires Bluetooth state information of the associated equipment of the surrounding environment, and if the Bluetooth state information of the associated equipment of the surrounding environment indicates that the Bluetooth of the equipment is in an on state, the control equipment sends a Bluetooth closing instruction to the equipment.

In yet another embodiment, the transmission quality information includes a task data transmission quality level; for example, the transmission quality level is determined according to the average signal-to-noise ratio of the image frame in the unit time length, when the average signal-to-noise ratio is less than p, the transmission quality level is judged to be poor, when p is less than or equal to the average signal-to-noise ratio, the transmission quality level is judged to be normal, and when q is less than or equal to the average signal-to-noise ratio, the transmission quality level is judged to be good. The control device is connected to the devices associated with the surroundings in a direct or indirect manner. The control equipment performs anti-interference processing, namely: the control equipment acquires the Bluetooth state information of the associated equipment of the surrounding environment, and if the Bluetooth state information of the associated equipment of the surrounding environment indicates that the Bluetooth of the associated equipment is in an open state, the control equipment executes corresponding anti-interference processing according to the data transmission quality grade. Specifically, when the transmission quality information does not satisfy a third condition (e.g., the transmission level is poor), the control device sends a prompt message to the associated device of the surrounding environment, where the prompt message is used to prompt the user to turn off the bluetooth function of the associated device of the surrounding environment; when the transmission quality information satisfies the third condition, the control device sends a bluetooth shutdown instruction to the associated device of the surrounding environment. For example, when the transmission quality level is general, the control device sends a prompt message to the device associated with the surrounding environment, and when the transmission quality level is poor, the control device sends a bluetooth shutdown instruction to the device associated with the surrounding environment.

In another embodiment, the task data identification is divided according to the importance degree of the task data; for example, the identifiers in the first set are important task data and the identifiers in the second set are general task data. The transmission quality information comprises an identification of the task data, and the control device is connected with the associated device of the surrounding environment in a direct or indirect way. The control equipment performs anti-interference processing, namely: the control device acquires Bluetooth state information of the associated device of the surrounding environment, and if the Bluetooth state information of the associated device of the surrounding environment indicates that the Bluetooth of the associated device is in an on state and the identifier of the task data is matched with a target identifier (i.e., the identifier of the important task data), the control device sends a Bluetooth off instruction to the associated device. And if the Bluetooth state information of the associated equipment of the surrounding environment indicates that the Bluetooth of the equipment is in an open state and the identification of the task data is not matched with the target identification, the control equipment sends prompt information to the equipment, wherein the prompt information is used for prompting a user to close the Bluetooth function of the associated equipment of the surrounding environment.

The embodiment of the invention determines whether the interference scanning result meets a first condition or not through the strength and the existing time ratio of the interference signal, provides a plurality of judging modes of a second condition aiming at different transmission quality information, comprehensively judges whether the interference signal in the current surrounding environment obviously influences the communication between the control equipment and the movable platform or not through the first condition and the second condition, and provides different anti-interference processing methods aiming at different application scenes. Therefore, on one hand, the embodiment of the invention provides a method for measuring the influence degree of the corresponding interference signal for different transmission quality information, and further determines whether the interference signal needs to be subjected to anti-interference processing according to the measurement result, so that the accuracy of the anti-interference processing is improved, and the user experience is improved; on the other hand, different anti-interference processing methods are provided for different application scenes, and the flexibility of anti-interference processing is improved.

An embodiment of the present invention provides an interference processing apparatus, which may be mounted on a control device of a movable platform, such as the control device 101 in fig. 1 a. Fig. 4 is a block diagram of an interference processing apparatus according to an embodiment of the present invention, and as shown in fig. 4, the interference processing apparatus 400 includes an obtaining unit 401 and a processor 402. The interference processing apparatus shown in fig. 4 may be used to perform some or all of the functions in the method embodiments described in fig. 2 or fig. 3. Wherein, the detailed description of each unit is as follows:

In one embodiment, the processor 402 further performs the following operations:

judging whether an interference signal with the signal intensity higher than a signal intensity threshold exists in the target channel within a first range duration according to the channel interference scanning result;

And if the time length ratio is greater than the time length ratio threshold, judging that the channel interference scanning result meets a first condition.

In one embodiment, the set signal strength threshold comprises a first strength threshold and a second strength threshold, and the set duration proportion threshold comprises a first proportion threshold and a second proportion threshold;

if an interference signal with signal intensity higher than the first intensity threshold exists in the target channel and the time length ratio is greater than the first proportional threshold, the target channel has intra-channel interference, and it is determined that a channel interference scanning result meets a first condition; and/or

If an interference signal with signal intensity higher than the second intensity threshold exists in the target channel and the time length ratio is greater than the second proportion threshold, the target channel has out-of-channel interference, and it is determined that a channel interference scanning result meets a first condition;

wherein the first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is less than the second proportional threshold.

In one embodiment, the processor 402 further performs the following operations:

and if the channel interference scanning result does not meet the first condition within the preset time after the channel interference scanning result meets the first condition, or the control equipment is restarted, eliminating the setting of the interference flag bit.

In one embodiment, the transmission quality information includes frequency band information of a transmission channel of the task data and a transmission distance of the task data; the transmission quality information satisfying the second condition includes:

and the frequency band information of the transmission channel of the task data is matched with the target frequency band, and the transmission distance is greater than a distance threshold value.

In one embodiment, the transmission quality information includes a quality parameter of a target image frame, the target image frame being an image frame having a signal-to-noise ratio below a signal-to-noise ratio threshold for a second range of durations; the transmission quality information satisfying the second condition further includes:

and the quality parameter of the target image frame in the second range duration is greater than the first parameter threshold.

In an embodiment, the transmission quality information further includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is obtained by calculating an average signal-to-noise ratio of image frames in the task data in the second range of duration with the historical signal-to-noise ratio.

In one embodiment, the transmission quality information includes the number of transmissions of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

and the retransmission parameter of the retransmission image frame determined in the third range of the time length is larger than the second parameter threshold value.

In one embodiment, the retransmission parameters of the retransmitted image frame include: the number of the retransmitted image frames or a ratio of the retransmitted image frames to the image frames within the third range duration.

In one embodiment, the retransmitted image frame is a key frame, and the retransmission parameters include: the number of key frame requests.

In one embodiment, the transmission quality information includes residual error information; the transmission quality information satisfying the second condition further includes:

and determining that the image frame with transmission failure exists in the fourth range duration according to the residual error information.

In one embodiment, the processor 402 performs the following operations when performing the interference rejection processing:

acquiring bluetooth state information of associated devices of the environment around the control device through the acquisition unit 401;