CN108880754B - Low-delay signaling and data wireless transmission method based on hierarchical redundancy mechanism - Google Patents
Low-delay signaling and data wireless transmission method based on hierarchical redundancy mechanism Download PDFInfo
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Abstract
The invention discloses a low-delay signaling and data wireless transmission method based on a hierarchical redundancy mechanism, which reasonably arranges data processing time and information sending time by utilizing real-time difference and fault-tolerant capability difference of different error control technologies, and sends a plurality of data messages containing the same effective information, with progressively decreased real-time and progressively increased fault-tolerant capability in a maximum allowable delay window, thereby reducing the delay of the first correct receiving of data as much as possible. The invention can be used for signaling transmission in a high real-time system and realizes real-time signaling data transmission with microsecond to millisecond delay.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and relates to a low-delay signaling and data wireless transmission method based on a hierarchical redundancy mechanism.
Background
In the electromechanical control system, the master control device needs to acquire system state parameters in real time and send a control instruction to finely adjust the controllable device so as to ensure the stable operation of the system. A system with high real-time requirements such as flight control and the like puts higher requirements on high-reliability low-delay transmission of signaling data, and transmission delay is required to be lower than 10 milliseconds or even lower than 5 milliseconds to ensure system stability.
The wired cable transmission scheme has stable channel environment and high reliability, but the cable has the defects of self-weight distance correlation, easy winding, complex arrangement, poor expansion capability and the like, and is difficult to be applied to the fields of sight distance aircraft control, distributed control and the like.
The wireless data transmission scheme has the characteristics of light weight, good flexibility, simple layout and good expandability, and is very suitable for the fields of distributed electromechanical control, micro electromechanical control, aircraft control and the like. However, since the wireless channel has a broadcasting characteristic and a time-varying characteristic, and the channel reliability is poor, a data redundancy technology (error correction code) or an error control protocol needs to be adopted to improve the reliability of data transmission, so that additional communication delay and processing delay are introduced to different degrees. An error control protocol-based transmission scheme generally adopts an overtime retransmission and feedback confirmation mechanism, the transmission delay of the mechanism is difficult to determine, and the real-time property of data transmission cannot be ensured, for example, the time delay of point-to-point transmission in a Bluetooth technology fluctuates from 15 milliseconds to 80 milliseconds; the transmission method based on the forward error correction mechanism can ensure the stability of data transmission delay, but the error correction code needs to be designed according to the worst error situation, extra error correction code coding and decoding processing delay can be introduced, and the real-time performance of the system is reduced; the transmission method based on the spread spectrum technology can complete spread spectrum by hardware, point-to-point communication time delay can approach direct data transmission time delay, however, the transmission reliability of the transmission method which only adopts the spread spectrum technology is difficult to guarantee.
In summary, in the aspect of low-latency signaling wireless transmission, the existing feedback retransmission technology, forward error correction technology and spread spectrum technology have the disadvantages of large delay jitter, long coding period and insufficient reliability.
Disclosure of Invention
The invention aims to provide a low-delay signaling and data wireless transmission method based on a hierarchical redundancy mechanism, which solves the problems of large delay jitter, long coding period and insufficient reliability of a feedback retransmission technology, a forward error correction technology and a spread spectrum technology in the prior art, and reduces the transmission delay of wireless signaling as much as possible on the premise of ensuring the reliability.
The technical scheme adopted by the invention is that a low-delay signaling and data wireless transmission method based on a hierarchical redundancy mechanism specifically comprises the following steps:
step S1, the wireless device determines the target maximum transmission delay T and the target maximum packet loss rate P of the wireless data, generates an error control method set, traverses the error control method arrangement which takes N times of error control methods from the error control method set by adopting a taking and putting way, arranges each error control method which does not repeatedly remove the error-free control method elements to form a hierarchical redundancy control method set, and selects the hierarchical redundancy control method with the most hierarchical number, the shortest hierarchical control delay and the lowest packet loss rate from the hierarchical redundancy control method set as the final hierarchical redundancy control method;
step S2, the wireless device sends node redundant transmission;
step S3, the wireless device receiving node receives the most recent.
Further, the step S1 is further specifically performed according to the following steps:
step S11, the wireless device determines the target maximum transmission time delay T and the target maximum packet loss rate P of the wireless data transmission;
step S12, selecting all error control methods which can be realized and the transmission time delay is less than T to form an error control method set, and recording the number of the set elements as K;
making the transmission delay required by the error control method with the minimum transmission delay in the error control method set be T ═ tc + tr, wherein tc represents the data processing delay of the error control method with the minimum transmission delay, tr represents the data transmission delay of the error control method with the minimum transmission delay, and taking N ═ floor (T/max (tc, tr)) as the maximum hierarchical level, wherein, floor (x) is a rounding-down function;
adding an error-free control method with communication delay of 0 and packet loss rate of 1 into an error control method set, wherein the number of elements of the set is K + 1;
step S13, the error control method arrangement of the error control method is taken out for N times from the error control method set in a traversal mode by adopting a take-out and put-back mode, each error control method arrangement is used as a hierarchical redundancy control method after removing the error-free control method element, and the non-repeated hierarchical redundancy control methods are combined to form a hierarchical redundancy control method set;
step S14, calculating the time delay corresponding to the non-repeated hierarchical redundancy control method, and taking the time from the data processing time of the first-level error control method to the data transmission time of the last-level error control method as the hierarchical redundancy control time delay, wherein the data processing data transmission of the error control methods of different levels are simultaneously overlapped, and the hierarchical redundancy control method with the hierarchical redundancy control time delay larger than T is removed from the hierarchical redundancy control method set;
multiplying the packet loss rates of each level of error control methods in the hierarchical redundancy control method in a typical environment, taking the product as the hierarchical redundancy control packet loss rate, and removing the hierarchical redundancy control method of which the hierarchical redundancy control packet loss rate is greater than P from the hierarchical redundancy control method set;
and step S15, selecting the only hierarchical redundancy control method from the hierarchical redundancy control method set as the final hierarchical redundancy control method according to the sequence of the maximum hierarchical number, the shortest hierarchical control time delay and the lowest packet loss rate.
Further, the step S2 is specifically performed according to the following steps:
step S21, the wireless device waits for a data transmission instruction;
step S22, reading a packet of data from the data buffer, and starting the data processing of the first-level error control method;
step S23, waiting for the data processing to finish, judging whether the data is being sent, if no data is being sent, starting the data sending, if the data is being sent, the current data is queued to wait for sending;
step S24, judging whether there is data to be processed in the next-stage error control method, if yes, starting the next-stage data processing, otherwise, waiting for the current data to be sent, if the current data is the data sent by the last-stage error control method, turning to S25, otherwise, turning to S23;
step S25, wait for the data sending end instruction or the data cache to be filled with a packet of data, if the data sending end instruction arrives, the data sending end instruction is ended, and if the data cache is filled with a packet of data, go to step S22.
Further, the step S3 further includes the following steps:
step S31, the wireless device waits for the completion of receiving a frame data message;
step S32, checking whether the datagram in step S31 is wrong, if so, discarding, turning to step S31, and turning to step S33 correctly;
step S33, checking whether the message is the same as the previous frame, if not, turning to step S34, and turning to step S35;
s34, taking out and outputting the message data, and turning to S31;
and step S35, discarding the message, and turning to step S31.
Compared with the existing model, the wireless signaling transmission method has the advantages that the correct information receiving time delay is shorter, the method sends a plurality of graded redundant incremental datagrams with the same information, the transmission time delay is determined by the first correctly received datagram, and the communication time delay can be as close as possible to the theoretical shortest communication time delay under the current channel condition. The method can be used for signaling transmission in a high-real-time system, and realizes real-time control signaling data transmission with microsecond to millisecond delay.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the present invention;
fig. 2a is a diagram of the change of the channel error rate at the time of 10000 communications of a certain device;
fig. 2b is a diagram comparing the delay per communication situation of the conventional Forward Error Correction (FEC) method and the method of the present invention under the channel condition of fig. 2 a.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
The idea of the invention is as follows: the data processing time and the information sending time are reasonably arranged by utilizing the real-time difference and the fault-tolerant capability difference of different error control technologies, and a plurality of data messages containing the same effective information, with gradually decreased real-time and gradually increased fault-tolerant capability are sent in the maximum allowable time delay window, so that the time delay of the first correct receiving of the data is reduced as much as possible.
Examples
Step S1, the wireless device determines the target maximum transmission delay T and the target maximum packet loss rate P of the wireless data, generates an error control method set, traverses the error control method arrangement which takes N times of error control methods from the error control method set by adopting a taking and putting way, arranges each error control method which does not repeatedly remove the error-free control method elements to form a hierarchical redundancy control method set, and selects the hierarchical redundancy control method with the most hierarchical number, the shortest hierarchical control delay and the lowest packet loss rate from the hierarchical redundancy control method set as the final hierarchical redundancy control method;
step S11, determining the target maximum transmission time delay T and the target maximum packet loss rate P of wireless data transmission; in this embodiment, the target maximum transmission delay T provided by a real-time control system of an aircraft is less than 5ms, and the target maximum packet loss rate P is not higher than 10-9；
Step S12, selecting all error control methods which can be realized and the transmission time delay is less than T to form an error control method set, and recording the number of the set elements as K; the error control method for meeting the delay requirement, which can be selected in this embodiment, includes:
Forming an error control method set by the error control method 1 and the error control method 2, wherein the number of set elements is K-2;
making the transmission delay required by the error control method with the minimum transmission delay in the error control method set be T ═ tc + tr, wherein tc represents the data processing delay of the error control method with the minimum transmission delay, tr represents the data transmission delay of the error control method with the minimum transmission delay, and N ═ floor (T/max (tc, tr)) is used as the maximum hierarchical level; in this embodiment, the error control method with the minimum transmission delay is the error control method 1, where the single transmission delay is 2ms, N is floor (T/max (tc, tr)) -floor (5/max (0.5,1.5)) -3, and then the maximum number of stages is 3;
selecting the time delay of the error control method with the minimum time delay to calculate the maximum gradable series number, covering all permutation and combination, and not enabling the permutation and combination which do not meet the requirement to be too many;
adding an error-free control method with communication delay of 0 and packet loss rate of 1 into an error control method set, wherein the number of set elements is 3; in this embodiment, the error-free control method is added to the error control method set, and the set form is:
The error-free control method has the advantages that the single transmission time delay is 0ms, and the typical packet loss rate is 1;
the error-free control method is equivalent to a space in a character, because the maximum gradable series is calculated, and the condition less than the maximum gradable series is required to be contained in the traversal arrangement combination, the error-free control method is added, so that the error-free control method can be clearly expressed when all possible combinations and error control methods of each level are the same or different, and if the error-free control method is not added, the hierarchical combination less than the maximum gradable series cannot be generated in the traversal set;
step S13, the error control method arrangement of N times of error control methods is taken out from the error control method set by traversing in a take-out and put-back mode; in this embodiment, if the error control method 1 is a, the error control method 2 is B, and the error-free control method is C, all the error methods generated by traversal are arranged as follows:
AAA、AAB、AAC、ABA、ABB、ABC、ACA、ACB、ACC
BAA、BAB、BAC、BBA、BBB、BBC、BCA、BCB、BCC
CAA、CAB、CAC、CBA、CBB、CBC、CCA、CCB、CCC；
and eliminating elements representing the error-free control method C in each arrangement, wherein the obtained hierarchical redundancy control methods respectively comprise the following steps:
AAA、AAB、AA、ABA、ABB、AB、AA、AB、A
BAA、BAB、BA、BBA、BBB、BB、BA、BB、B
AA、AB、A、BA、BB、B、A、B；
forming a hierarchical redundancy control method set by non-repeated hierarchical redundancy control methods, wherein the elements contained in the set comprise:
AAA、AAB、ABA、ABB、BAA、BAB、BBA、BBB、AA、AB、BA、BB、A、B；
step S14, calculating the time delay corresponding to the non-repeated hierarchical redundancy control method, and taking the time from the data processing time of the first-level error control method to the data transmission time of the last-level error control method as the hierarchical redundancy control time delay, wherein the data processing and the data transmission of the error control methods of different levels are simultaneously overlapped, and the hierarchical redundancy control method with the hierarchical redundancy control time delay larger than T is removed from the hierarchical redundancy control method set; in this embodiment, taking a hierarchical redundancy control method in which error control is arranged as AAA as an example, the first-stage error control method starts data processing, the processing completion time of the first-stage error control method is 0.5ms, then the first-stage error control method starts transmission, and the transmission delay of the first-stage error control method is 1.5 ms; simultaneously, starting the processing of a second-level error control method, wherein the time for starting the processing of the second-level error control method is 0.5ms, the time for finishing the processing of the second-level error control method is 1ms, the first-level error control method is not completely transmitted at the moment, the second-level error control method is queued for transmission, at the moment of 1ms, the first-level error control method is already transmitted for 0.5ms and needs to be transmitted for 1ms, and the second-level error control method is queued for 1ms to be transmitted; the third-level error control method starts to process, the processing completion time of the third-level error control method is 1.5ms, at this time, the first-level error control method is already transmitted for 1ms and needs to be transmitted for 0.5ms, at this time, the second-level error control method needs to queue for 0.5ms to wait for transmission, the second-level error control method starts to transmit for 2ms, at this time, the third-level error control method needs to queue for 2ms to wait for transmission, the third-level error control method starts to transmit for 3.5ms, and the third-level error control method finishes transmission for 5 ms;
the time delay corresponding to each hierarchical redundancy control method in the hierarchical redundancy control method set is:
AAA、AAB、ABA、ABB、BAA、BAB、BBA、BBB、AA、AB、BA、BB、A、B
5ms、5.5ms、5.5ms、6ms、6ms、6.5ms、6.5ms、7ms、3.5ms、4ms、4.5ms、5ms、2ms、3ms；
removing the hierarchical redundancy control method with the hierarchical redundancy control time delay larger than T from the hierarchical redundancy control method set, wherein the obtained hierarchical redundancy control method set is as follows:
AAA、AA、AB、BA、BB、A、B；
multiplying the packet loss rates of each level of error control methods in each level of redundancy control method in a typical environment, taking the product as the level redundancy control packet loss rate, and removing the level redundancy control method of which the level redundancy control packet loss rate is greater than P from the level redundancy control method set; in this embodiment, the packet loss rate of the hierarchical redundancy control corresponding to each element in the hierarchical redundancy control method set is:
AAA、AA、AB、BA、BB、A、B；
10-12、10-8、10-9、10-9、10-10、10-4、10-5；
deleting hierarchical redundancy control packet loss rate greater than P-10-9After the hierarchical redundancy control method, the hierarchical redundancy control method set is as follows:
AAA、AA、AB、BA、BB；
step S15, selecting a unique hierarchical redundancy control method from the hierarchical redundancy control method set as a final hierarchical redundancy control method according to the sequence of the maximum hierarchical number, the shortest hierarchical control time delay and the lowest packet loss rate; in this embodiment, the error control method of the selected final hierarchical redundancy control method is arranged as AAA;
step S2, the wireless device sends node redundant transmission;
step S21, the wireless device waits for a data transmission instruction;
step S22, reading a packet of data from the data buffer, starting the data processing of the first level error control method,
step S23, waiting for the data processing to finish, judging whether the data is being sent, if no data is being sent, starting the data sending, if the data is being sent, the current data is queued to wait for sending;
step S24, judging whether there is data to be processed in the next-stage error control method, if yes, starting the next-stage data processing, otherwise, waiting for the current data to be sent, if the current data is the data sent by the last-stage error control method, turning to S25, otherwise, turning to S23;
step S25, waiting for a data sending end instruction or a data cache to be filled with a packet of data, ending if the data sending end instruction arrives, and going to S22 if the cache is filled with a packet of data;
step S3, the receiving node of the wireless device receives the latest reception;
step S31, the wireless device waits for the completion of receiving a frame data message;
step S32, checking whether the datagram in step S31 is wrong, if so, discarding, turning to step S31, and turning to step S33 correctly;
step S33, checking whether the message is the same as the previous frame, if not, turning to step S34, and turning to step S35;
s34, taking out and outputting the message data, and turning to S31;
and step S35, discarding the message, and turning to step S31.
Error control by hierarchical redundancy control mode, and is more suitable for low-levelIn the time-delay wireless transmission, because a wireless channel is a time-varying channel and the channel condition is good and bad, a primary error control method is directly adopted, for example, the primary error control method is designed aiming at the worst condition of the channel, and the grading redundancy error control realizes the same packet loss rate in terms of probability by utilizing multiple transmissions, and can obtain extra time-delay benefit when the channel condition is good. For example, the error control method A is directly adopted to design aiming at the worst channel condition, and the packet loss rate is 10-9In error protection, the communication delay required by the error control method is 6ms, and the packet loss rate is 10-3The communication time delay required by the error control method during error protection is 2ms, wherein the processing time delay is 0.5ms, and the sending time delay is 1.5ms, when the hierarchical redundancy error control method of AAA is adopted, the shortest receiving time delay is 2ms, the longest receiving time delay is 5ms, when the channel condition is better, the first level receiving success probability is high, when the channel condition is worse, the third level can ensure correct receiving, the communication time delay is determined by the first successfully received datagram, the overall communication real-time gain is related to the current channel condition, especially in a short-time strong interference channel, the hierarchical redundancy error control method can greatly reduce the overall communication time delay.
The low-delay signaling and data wireless transmission method based on the hierarchical redundancy mechanism can effectively adapt to the error rate change of a time-varying channel and gain benefits under good channel conditions. On a fast moving device, the channel condition with the base station peer device will change rapidly over time due to its location changing. In 10000 communications as shown in fig. 2a, the typical bit error rate of the channel at each communication. Fig. 2b shows the communication delay curves of the conventional Forward Error Correction (FEC) method and the method of the present invention in each communication, and it can be seen that the delay of each communication in the conventional FEC method is stable at 6ms, because the FEC needs to be designed according to the worst error rate of the channel at the beginning of the FEC design, and each communication needs to be calculated and transmitted according to the maximum redundancy; on the other hand, when the channel condition is better, the error rate is less than 10-3The communication delay is only 2ms, and when the channel condition is the worst, the communication delay is 5ms because of the adoption of overlapping calculation and transmission. In FIG. 2b, the conventional FEThe average communication delay of the method C is 6ms, the average communication delay of the method of the invention is 2.86ms, and in general, the communication delay of data is greatly reduced, and the real-time performance of the system is improved on the basis of ensuring the reliability.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (3)
1. A low-delay signaling and data wireless transmission method based on a hierarchical redundancy mechanism is characterized by comprising the following steps:
step S1, the wireless device determines the target maximum transmission delay T and the target maximum packet loss rate P of the wireless data, generates an error control method set, traverses the error control method arrangement which takes N times of error control methods from the error control method set by adopting a taking and putting way, arranges each error control method which does not repeatedly remove the error-free control method elements to form a hierarchical redundancy control method set, and selects the hierarchical redundancy control method with the most hierarchical number, the shortest hierarchical control delay and the lowest packet loss rate from the hierarchical redundancy control method set as the final hierarchical redundancy control method;
step S2, the wireless device sends node redundant transmission;
step S3, the receiving node of the wireless device receives the latest reception;
the step S1 is specifically performed according to the following steps:
step S11, the wireless device determines the target maximum transmission time delay T and the target maximum packet loss rate P of the wireless data transmission;
step S12, selecting all error control methods which can be realized and the transmission time delay is less than T to form an error control method set, and recording the number of the set elements as K;
making the transmission delay required by the error control method with the minimum transmission delay in the error control method set be T ═ tc + tr, wherein tc represents the data processing delay of the error control method with the minimum transmission delay, tr represents the data transmission delay of the error control method with the minimum transmission delay, and taking N ═ floor (T/max (tc, tr)) as the maximum hierarchical level, wherein, floor (x) is a rounding-down function;
adding an error-free control method with communication delay of 0 and packet loss rate of 1 into an error control method set, wherein the number of elements of the set is K + 1;
step S13, the error control method arrangement of the error control method is taken out for N times from the error control method set in a traversal mode by adopting a take-out and put-back mode, each error control method arrangement is used as a hierarchical redundancy control method after removing the error-free control method element, and the non-repeated hierarchical redundancy control methods are combined to form a hierarchical redundancy control method set;
step S14, calculating the time delay corresponding to the non-repeated hierarchical redundancy control method, and taking the time from the data processing time of the first-level error control method to the data transmission time of the last-level error control method as the hierarchical redundancy control time delay, wherein the data processing data transmission of the error control methods of different levels are simultaneously overlapped, and the hierarchical redundancy control method with the hierarchical redundancy control time delay larger than T is removed from the hierarchical redundancy control method set;
multiplying the packet loss rates of each level of error control methods in the hierarchical redundancy control method in a typical environment, taking the product as the hierarchical redundancy control packet loss rate, and removing the hierarchical redundancy control method of which the hierarchical redundancy control packet loss rate is greater than P from the hierarchical redundancy control method set;
and step S15, selecting the only hierarchical redundancy control method from the hierarchical redundancy control method set as the final hierarchical redundancy control method according to the sequence of the maximum hierarchical number, the shortest hierarchical control time delay and the lowest packet loss rate.
2. The method for wireless transmission of signaling and data with low latency based on hierarchical redundancy mechanism according to claim 1, wherein the step S2 is specifically performed according to the following steps:
step S21, the wireless device waits for a data transmission instruction;
step S22, reading a packet of data from the data buffer, and starting the data processing of the first-level error control method;
step S23, waiting for the data processing to finish, judging whether the data is being sent, if no data is being sent, starting the data sending, if the data is being sent, the current data is queued to wait for sending;
step S24, judging whether there is data to be processed in the next-stage error control method, if yes, starting the next-stage data processing, otherwise, waiting for the current data to be sent, if the current data is the data sent by the last-stage error control method, turning to S25, otherwise, turning to S23;
step S25, wait for the data sending end instruction or the data cache to be filled with a packet of data, if the data sending end instruction arrives, the data sending end instruction is ended, and if the data cache is filled with a packet of data, go to step S22.
3. The method for wireless transmission of signaling and data with low latency based on hierarchical redundancy mechanism according to claim 1, wherein the step S3 is specifically performed according to the following steps:
step S31, the wireless device waits for the completion of receiving a frame data message;
step S32, checking whether the datagram in step S31 is wrong, if so, discarding, turning to step S31, and turning to step S33 correctly;
step S33, checking whether the message is the same as the previous frame, if not, turning to step S34, and turning to step S35;
s34, taking out and outputting the message data, and turning to S31;
and step S35, discarding the message, and turning to step S31.
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