CN107294695A - A kind of communication construction based on full duplex near space agreement - Google Patents
A kind of communication construction based on full duplex near space agreement Download PDFInfo
- Publication number
- CN107294695A CN107294695A CN201710385301.4A CN201710385301A CN107294695A CN 107294695 A CN107294695 A CN 107294695A CN 201710385301 A CN201710385301 A CN 201710385301A CN 107294695 A CN107294695 A CN 107294695A
- Authority
- CN
- China
- Prior art keywords
- unit
- module
- state
- data
- demodulation unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
Landscapes
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computing Systems (AREA)
- Computer Security & Cryptography (AREA)
- Bidirectional Digital Transmission (AREA)
- Communication Control (AREA)
Abstract
本发明公开了一种基于全双工临近空间协议的通信架构,包括:数管中心、协议处理单元、调制单元和解调单元;数管中心作为收发信机的上层,负责收发数据的调度及对收发信机的遥控及遥测;协议处理单元负责协议的顶层实现及对调制解调单元的调度;调制单元的功能是对待发数据编码后,PM调制至中频输出;解调单元的功能是对输入中频信号符号同步、载波同步及译码后,提取出有效数据或指令,输出至协议处理单元。本发明以全双工临近空间协议为基础,将信号频点、编码方式、速率档及帧长有机的结合起来,优化了资源,将调制、解调及协议有机融合,使得临近空间的通信可靠性更高、吞吐量更大、效率更高。
The invention discloses a communication framework based on a full-duplex near-space protocol, including: a data management center, a protocol processing unit, a modulation unit, and a demodulation unit; The remote control and telemetry of the transceiver; the protocol processing unit is responsible for the top-level implementation of the protocol and the scheduling of the modulation and demodulation unit; the function of the modulation unit is to modulate the transmission data to the intermediate frequency after encoding; the function of the demodulation unit is to After symbol synchronization, carrier synchronization and decoding of the input intermediate frequency signal, valid data or instructions are extracted and output to the protocol processing unit. Based on the full-duplex near-space protocol, the present invention organically combines signal frequency points, encoding methods, rate files and frame lengths, optimizes resources, and organically integrates modulation, demodulation and protocols to make near-space communication reliable Higher performance, higher throughput, and higher efficiency.
Description
技术领域technical field
本发明属于通信技术领域,尤其涉及一种基于全双工临近空间协议的通信架构。The invention belongs to the technical field of communication, and in particular relates to a communication framework based on a full-duplex near-space protocol.
背景技术Background technique
在火星探测等深空探测活动中,由于通信距离远、无线电波传输延时长,信号能量衰减严重,以及可见时间短等特点,需要采用中继通信技术来实现火星、月球等表面着陆设备的对地数据传输。In deep space exploration activities such as Mars exploration, due to the characteristics of long communication distance, long radio wave transmission delay, serious signal energy attenuation, and short visible time, it is necessary to use relay communication technology to realize Mars, the moon and other surface landing equipment. Data transmission to the ground.
以火星为例,围绕火星转动的环绕器通过中继链路,获取着陆设备的观测数据,并将地球控制中心发来的遥控指令通过中继链路送给着陆设备,以实现远程控制。由于火星环绕器的高速运动,通信双方可见时间短。而且由于数据信息量大,且需要做到通信过程中的无误传输,因此,需要一套机制来保证,这就是全双工临近空间协议。Taking Mars as an example, the orbiter revolving around Mars obtains the observation data of the landing equipment through the relay link, and sends the remote control instructions sent by the Earth control center to the landing equipment through the relay link to realize remote control. Due to the high-speed movement of the Mars orbiter, the visible time of the two communicating parties is short. Moreover, due to the large amount of data information and the need to achieve error-free transmission during the communication process, a set of mechanisms is needed to ensure it. This is the full-duplex near-space protocol.
在现有的深空探测中,例如文献1“Automatic Code Generation For InstrumentFlight Software”(Jet Propulsion Laboratory,California Institute ofTechnology,4800Oak Grove Drive,Pasadena,CA 91109,USA)给出了目前火星车任务(好奇、机遇、凤凰)中的CCSDS协议全双工通信系统的实现方式,它们仅具备自适应切换速率档的功能,编码方式、频点及帧长都是固定不可变的,吞吐量和效率受到极大的约束和限制。In the existing deep space exploration, for example document 1 "Automatic Code Generation For InstrumentFlight Software" (Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA) gives the current Mars rover mission (curiosity, Opportunity, Phoenix) in the CCSDS protocol full-duplex communication system implementation, they only have the function of adaptive switching rate files, the encoding method, frequency point and frame length are fixed and immutable, and the throughput and efficiency are greatly affected constraints and limitations.
发明内容Contents of the invention
本发明的技术解决问题:克服现有技术的不足,提供一种基于全双工临近空间协议的通信架构,优化了资源,将调制、解调及协议有机融合,使得临近空间的通信可靠性更高、吞吐量更大、效率更高。The technology of the present invention solves the problem: overcomes the shortcomings of the existing technology, provides a communication architecture based on a full-duplex near-space protocol, optimizes resources, and organically integrates modulation, demodulation and protocols to make communication in near-space more reliable. Higher throughput, higher efficiency.
为了解决上述技术问题,本发明公开了一种基于全双工临近空间协议的通信架构,包括:数管中心、协议处理单元、调制单元和解调单元;In order to solve the above technical problems, the present invention discloses a communication architecture based on a full-duplex near-space protocol, including: a data management center, a protocol processing unit, a modulation unit, and a demodulation unit;
所述数管中心,用于收发数据的调度,发出遥控指令A及传输数据B至协议处理单元,以及,接收从协议处理单元返回的总遥测量C和数据域D;The data management center is used for scheduling sending and receiving data, sending remote control command A and transmitting data B to the protocol processing unit, and receiving the total telemetry C and data field D returned from the protocol processing unit;
所述协议处理单元,用于负责协议的顶层实现及对调制单元和解调单元的调度,对接收到的遥控指令A进行校验后,提取自身单元相关参数信息、调制单元相关参数信息E和解调单元相关参数信息F,并将调制单元相关参数信息E发送至调制单元,将解调单元相关参数信息F发送至解调单元;接收传输数据B,并按协议规定,产生待发数据G,将待发数据G传输至调制单元;提取调制单元遥测量H和解调单元遥测量I,并根据自身状态,产生总遥测量C,将总遥测量C发送至数管中心;接收解调单元的数据流J,进行校验后,将接收的解调单元的数据流J中的数据域D发送至数管中心;The protocol processing unit is used to be responsible for the top-level implementation of the protocol and the scheduling of the modulation unit and the demodulation unit. After checking the received remote control instruction A, extract the relevant parameter information of its own unit, the relevant parameter information E of the modulation unit and Demodulate unit-related parameter information F, and send modulation unit-related parameter information E to the modulation unit, and demodulate unit-related parameter information F to the demodulation unit; receive transmission data B, and generate data G to be sent according to the protocol , transmit the data G to be sent to the modulation unit; extract the telemetry H of the modulation unit and the telemetry I of the demodulation unit, and generate the total telemetry C according to its own state, and send the total telemetry C to the data management center; receive and demodulate After checking the data stream J of the unit, send the data field D in the data stream J of the demodulation unit received to the data management center;
所述调制单元,用于接收协议处理单元发送的调制单元相关参数信息E,根据所述协议处理单元发送的调制单元相关参数信息E配置自身相关参数;根据自身工作状态,产生调制单元遥测量H,将产生的调制单元遥测量H发送至协议处理单元;以及,接收协议处理单元发送的待发数据G,编码后,PM调制至中频输出至解调单元;The modulation unit is used to receive the modulation unit related parameter information E sent by the protocol processing unit, configure its own related parameters according to the modulation unit related parameter information E sent by the protocol processing unit; generate the modulation unit telemetry H according to its own working state , sending the generated modulation unit telemetry H to the protocol processing unit; and receiving the data G to be sent sent by the protocol processing unit, after encoding, PM modulation to the intermediate frequency output to the demodulation unit;
所述解调单元,用于接收协议处理单元发送的解调单元相关参数信息F,根据所述协议处理单元发送的解调单元相关参数信息F配置自身相关参数;根据自身工作状态,产生解调单元遥测量I;对解调单元输入的中频信号符号同步、载波同步及译码后,将得到数据流J输出至协议处理单元。The demodulation unit is used to receive the demodulation unit related parameter information F sent by the protocol processing unit, configure its own related parameters according to the demodulation unit related parameter information F sent by the protocol processing unit; generate demodulation unit according to its own working state The unit remotely measures I; after symbol synchronization, carrier synchronization and decoding of the intermediate frequency signal input by the demodulation unit, the obtained data stream J is output to the protocol processing unit.
在上述基于全双工临近空间协议的通信架构中,所述协议处理单元,包括:I/O模块、ARQ模块、MAC模块、流程控制模块、接收处理模块和相干控制模块;In the communication architecture based on the full-duplex near-space protocol, the protocol processing unit includes: an I/O module, an ARQ module, a MAC module, a flow control module, a receiving processing module, and a coherent control module;
所述I/O模块,用于接收数管中心发出的传输数据B,当顺序帧流控开放时,向ARQ模块传输顺序帧,当加急帧流控开放时,向ARQ模块传输加急帧;以及,在对接收到的解调单元发出的数据流J进行校验后,将接收的解调单元的数据流J中的数据域D发送至数管中心;The I/O module is used to receive the transmission data B sent by the data management center, when the sequential frame flow control is enabled, transmit the sequential frame to the ARQ module, and when the urgent frame flow control is enabled, transmit the urgent frame to the ARQ module ; And, after checking the data stream J sent by the demodulation unit received, send the data domain D in the data stream J of the demodulation unit received to the data management center;
所述MAC模块,用于接收数管中心发送的遥控指令A,对接收到的遥控指令A进行校验后,提取自身单元相关参数信息、调制单元相关参数信息E和解调单元相关参数信息F,并输出至流程控制模块;以及,接收流程控制模块输出的总遥测量C,并将总遥测量C回传至数管中心;The MAC module is used to receive the remote control instruction A sent by the data management center, and after checking the received remote control instruction A, extract the relevant parameter information of its own unit, the relevant parameter information E of the modulation unit and the relevant parameter information F of the demodulation unit , and output to the process control module; and, receive the total telemetry C output by the process control module, and return the total telemetry C to the data management center;
所述ARQ模块,用于接收从I/O模块输出的顺序及加急帧,并根据本地加急帧及顺序帧的存储量是否超过阀值,确定是否生成加急流控及顺序流控,并反馈至I/O模块;根据接收到的PLCW帧序号,选取帧号为当前帧号及当前帧号加1的数据帧,输出至流程控制模块;以及,从接收处理模块接收待发送的PLCW,添加至加急帧发送序列;以及,根据流程控制模块给出的要数使能,以加急帧优先顺序帧的发送顺序,将待发帧输出至流程控制模块;The ARQ module is used to receive the sequential and urgent frames output from the I/O module, and determine whether to generate urgent flow control and sequential flow control according to whether the storage capacity of the local urgent frames and sequential frames exceeds a threshold, and Feedback to the I/O module; according to the received PLCW frame number, select the data frame whose frame number is the current frame number and the current frame number plus 1, and output to the process control module; and receive the PLCW to be sent from the receiving processing module, Added to the urgent frame sending sequence; and, according to the key number given by the flow control module, the frames to be sent are output to the flow control module in the sending order of the priority frame of the urgent frame;
所述流程控制模块,用于根据MAC模块给出的自身单元相关参数信息或从接收处理模块处收到的SPDU参数,完成协议全双工通信功能;将调制单元相关参数信息E输出至调制单元,将解调单元相关参数信息F输出至接收处理模块;以及,从调制单元接收调制单元遥测量H,从接收处理模块接收解调单元遥测量I,并根据自身状态,产生总遥测量C,将总遥测量C发送至MAC模块;The process control module is used to complete the full-duplex communication function of the protocol according to the unit related parameter information given by the MAC module or the SPDU parameter received from the receiving processing module; output the related parameter information E of the modulation unit to the modulation unit , output the relevant parameter information F of the demodulation unit to the receiving processing module; and, receive the modulation unit telemetry H from the modulation unit, receive the demodulation unit telemetry I from the receiving processing module, and generate the total telemetry C according to its own state, Send the total telemetry C to the MAC module;
所述接收处理模块,用于从解调单元输入的数据流中,识别PLCW帧并将PLCW帧序号输出至ARQ模块;根据接收到的顺序帧帧序号,生成待发送的PLCW,输出至ARQ模块;将接收的流程控制模块输出的解调单元相关参数信息F输出至解调单元;将解调单元输入的相关参数中转至流程控制模块;根据解调单元输入的相关参数,在本地生成SPDU,并输出至流程控制模块;接收解调单元的解调单元遥测量I,并发送至流程控制模块;The receiving processing module is used to identify the PLCW frame and output the PLCW frame number to the ARQ module from the data stream input by the demodulation unit; generate the PLCW to be sent according to the received sequence frame number, and output it to the ARQ module ; Output the demodulation unit related parameter information F output by the received process control module to the demodulation unit; transfer the relevant parameters input by the demodulation unit to the process control module; generate SPDU locally according to the relevant parameters input by the demodulation unit, And output to the process control module; receive the demodulation unit remote measurement I of the demodulation unit, and send to the process control module;
所述相干控制模块,用于根据MAC模块给出的控制指令或接收到的SPDU参数,确定相干模式开启后,将接收频率乘以相应的转发比生成发射频率,输出至调制单元。The coherent control module is used to determine that the coherent mode is enabled according to the control command given by the MAC module or the received SPDU parameters, and then multiply the receiving frequency by the corresponding forwarding ratio to generate a transmitting frequency and output it to the modulation unit.
在上述基于全双工临近空间协议的通信架构中,In the above-mentioned communication architecture based on the full-duplex near-space protocol,
调制单元的自身相关参数包括:信道、编码方式和速率档中的至少一种;The self-related parameters of the modulation unit include: at least one of channel, coding mode and rate file;
解调单元的自身相关参数包括:信道、编码方式和速率档中的至少一种;The self-related parameters of the demodulation unit include: at least one of channel, coding mode and rate file;
协议处理单元的自身相关参数包括:全局复位、全双工发起及响应模式、自适应切换模式和相干模式中的至少一种。The relevant parameters of the protocol processing unit include: at least one of global reset, full-duplex initiation and response mode, adaptive switching mode and coherent mode.
在上述基于全双工临近空间协议的通信架构中,In the above-mentioned communication architecture based on the full-duplex near-space protocol,
解调单元输入的相关参数包括:信噪比、呼叫响应指令、远端无数据指令、失锁指令和接收到的SPDU参数中的至少一种。The relevant parameters input by the demodulation unit include: at least one of signal-to-noise ratio, call response command, remote no data command, loss of lock command and received SPDU parameters.
在上述基于全双工临近空间协议的通信架构中,In the above-mentioned communication architecture based on the full-duplex near-space protocol,
接收MAC模块给出的遥控指令,进入初始状态;Receive the remote control command given by the MAC module and enter the initial state;
检测系统响应模式;detection system response mode;
若系统响应模式为全双工发起模式,进入状态1,控制所述调制单元依次发送1s的单载波和384bit的空闲序列;将所述MAC模块的输入参数组成SPDU帧,送入调制单元发出;在发送64bit的尾序列之后关闭发射机;控制计时器启动,当计时器到达预设时刻T2时,若接收端返回的呼叫响应指令无效,则控制计时器清零,进入状态2,计时器清0;将发射机参数设置为全双工发起状态下的默认速率、频率及编码方式,在设置完成之后跳转到状态1;若接收端返回的呼叫响应指令有效,则设置解调单元的自身相关参数,计时器清0,进入状态3;If the system response mode is a full-duplex initiation mode, enter state 1, control the modulation unit to send the single carrier of 1s and the idle sequence of 384bit in turn; form the SPDU frame with the input parameters of the MAC module, send it into the modulation unit and send it; Turn off the transmitter after sending the 64bit tail sequence; control the timer to start, when the timer reaches the preset time T2, if the call response command returned by the receiving end is invalid, the control timer is cleared, enters state 2, and the timer is cleared 0; set the transmitter parameters to the default rate, frequency and encoding mode in the full-duplex initiation state, and jump to state 1 after the setting is completed; if the call response command returned by the receiving end is valid, set the demodulation unit itself Relevant parameters, the timer is cleared to 0, and enters state 3;
若系统响应模式为全双工响应模式,进入状态0,当成功收到接收处理模块的SPDU参数时,产生相应的呼叫响应帧,加入到加急发送序列中,并设置解调单元业务下的频点、速率及编码方式;若位同步锁定,进入状态3;If the system response mode is full-duplex response mode, enter state 0, when the SPDU parameters of the receiving processing module are successfully received, a corresponding call response frame is generated, added to the urgent sending sequence, and the demodulation unit service is set Frequency point, rate and encoding method; if the bit is synchronously locked, enter state 3;
在状态3时,设置发射单元参数及接收单元参数至相应业务下的频点、速率及编码方式,控制调制单元启动,在发送1s的单载波及384个空闲序列后实现切换控制。In state 3, set the transmitting unit parameters and receiving unit parameters to the frequency point, rate and coding mode of the corresponding service, control the modulation unit to start, and realize switching control after sending a 1s single carrier and 384 idle sequences.
在上述基于全双工临近空间协议的通信架构中,所述流程控制模块,还用于:In the above-mentioned communication architecture based on the full-duplex near-space protocol, the process control module is also used for:
在切换控制时,根据MAC模块给出的遥控指令所指示的模式,进行状态切换;When switching control, switch the state according to the mode indicated by the remote control command given by the MAC module;
当遥控指令所指示的模式为非自适应模式时,进入状态4,若所述调制单元的流控指令为0,向ARQ模块的要数使能置为1,以使ARQ模块收到使能后输出一加急帧优先级高于顺序帧的整帧数据;当检测到ARQ模块输出使能为1时,则要数使能置0,提取帧长M1,并将整帧输出至调制单元;当检测到ARQ模块输出使能为0时,检测是否失锁、本地无数据是否有效和远端无数据是否有效;其中,若失锁,复位所述调制单元和解调单元,返回初始状态;若本地无数据和远端无数据同时有效,复位所述调制单元及解调单元,返回状初始状态;否则,进行状态5;在状态5下,控制计数器开始计数,当计数达到预设数值M1时,计数器清0并实现切换控制;When the mode indicated by the remote control command is a non-adaptive mode, enter state 4, if the flow control command of the modulation unit is 0, the request to the ARQ module can be set to 1, so that the ARQ module receives the enable Then output a full frame of urgent frame data whose priority is higher than that of the sequential frame; when it is detected that the output enable of the ARQ module is 1, the number enable is set to 0, the frame length M1 is extracted, and the entire frame is output to the modulation unit ;When it is detected that the output of the ARQ module is enabled to be 0, it is detected whether the lock is lost, whether the local no data is valid and whether the remote no data is valid; wherein, if the lock is lost, reset the modulation unit and the demodulation unit and return to the initial state ; If the local no data and remote no data are effective simultaneously, reset the modulation unit and the demodulation unit, and return to the initial state; otherwise, proceed to state 5; under state 5, the control counter starts counting, when the count reaches the preset value When M1, the counter is cleared to 0 and switching control is realized;
当遥控指令所指示的模式为自适应模式,且流程控制模块收到切换对方发射机参数的SPDU时,进入状态6,将切换对方发射机参数的SPDU发出,要数使能置为0,不再发出任何信息,进入状态7;在状态7下,控制计时器启动,当计时器到达预设时刻T3时,若仍没有收到接收处理模块发来的位同步失锁指令,则回到状态6,次数计数器记为1,当次数计数器记为3时,结束自适应切换并实现切换控制;若收到接收处理模块发来的失锁指令,则次数计数器清0,计时器清0,进入状态8;在状态8下,设置解调单元至新业务参数,并开始计时,当计时器到达预设时刻T4时,查看失锁指令,若仍未锁定,结束自适应切换,复位调制单元及解调单元,回到初始状态;若锁定,结束自适应切换,回到状态4,开始发送数据;When the mode indicated by the remote control instruction is the adaptive mode, and the process control module receives the SPDU for switching the parameters of the other party’s transmitter, it enters state 6, and sends out the SPDU for switching the parameters of the other party’s transmitter. Send out any information again, and enter state 7; in state 7, the control timer starts, and when the timer reaches the preset time T3, if the bit synchronization lockout command sent by the receiving processing module is still not received, then return to state 6. The number of times counter is recorded as 1. When the number of times counter is recorded as 3, the adaptive switching is ended and the switching control is realized; if an out-of-lock instruction is received from the receiving processing module, the number of times counter is cleared to 0, the timer is cleared to 0, and enters State 8; in state 8, set the demodulation unit to the new service parameters, and start timing, when the timer reaches the preset time T4, check the lock-out instruction, if it is still not locked, end the adaptive switching, reset the modulation unit and The demodulation unit returns to the initial state; if locked, end the adaptive switching, return to state 4, and start sending data;
当遥控指令所指示的模式为自适应模式,且流程控制模块收到切换本地发射机参数的SPDU时,进入状态9,设置调制单元至新的业务参数,结束自适应切换,进入状态4。When the mode indicated by the remote control instruction is the adaptive mode, and the process control module receives the SPDU for switching the parameters of the local transmitter, it enters state 9, sets the modulation unit to the new service parameter, ends the adaptive switching, and enters state 4.
本发明具有以下优点:The present invention has the following advantages:
本发明所述的基于全双工临近空间协议的通信架构,以全双工临近空间协议为基础,将信号频点、编码方式、速率档及帧长有机的结合起来,优化了资源,将调制、解调及协议有机融合,使得临近空间的通信可靠性更高、吞吐量更大、效率更高。The communication architecture based on the full-duplex near-space protocol in the present invention is based on the full-duplex near-space protocol, organically combines signal frequency points, coding methods, rate files and frame lengths, optimizes resources, and modulates The organic integration of , demodulation and protocol makes the communication in the adjacent space more reliable, with higher throughput and higher efficiency.
附图说明Description of drawings
图1是本发明实施例中的一种基于全双工临近空间协议的通信架构的结构框图;FIG. 1 is a structural block diagram of a communication architecture based on a full-duplex near-space protocol in an embodiment of the present invention;
图2是本发明实施例中的一种流程控制模块的控制流程示意图。Fig. 2 is a schematic diagram of a control flow of a flow control module in an embodiment of the present invention.
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明公共的实施方式作进一步详细描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the public implementation manners of the present invention in detail with reference to the accompanying drawings.
参照图1,示出了本发明实施例中的一种基于全双工临近空间协议的通信架构的结构框图。在本实施例中,所述基于全双工临近空间协议的通信架构,包括:数管中心100、协议处理单元200、调制单元300和解调单元400。Referring to FIG. 1 , it shows a structural block diagram of a communication architecture based on a full-duplex near-space protocol in an embodiment of the present invention. In this embodiment, the communication architecture based on the full-duplex near-space protocol includes: a data management center 100 , a protocol processing unit 200 , a modulation unit 300 and a demodulation unit 400 .
数管中心100作为收发信机的上层,负责收发数据的调度及对收发信机的遥控及遥测;协议处理单元200负责协议的顶层实现及对调制解调单元的调度;调制单元300的功能是对待发数据编码后,PM(Phase Modulation,相位调制)调制至中频输出;解调单元400的功能是对输入中频信号符号同步、载波同步及译码后,提取出有效数据或指令,输出至协议处理单元。As the upper layer of the transceiver, the data management center 100 is responsible for the scheduling of sending and receiving data and the remote control and telemetry of the transceiver; the protocol processing unit 200 is responsible for the top-level implementation of the protocol and the scheduling of the modulation and demodulation unit; the function of the modulation unit 300 is After the data to be transmitted is encoded, PM (Phase Modulation, phase modulation) is modulated to the intermediate frequency output; the function of the demodulation unit 400 is to extract valid data or instructions after symbol synchronization, carrier synchronization and decoding of the input intermediate frequency signal, and output them to the protocol processing unit.
下面对各个模块的功能进行详细说明。The functions of each module are described in detail below.
所述数管中心100,用于收发数据的调度,发出遥控指令A及传输数据B至协议处理单元,以及,接收从协议处理单元返回的总遥测量C和数据域D。The data management center 100 is used for scheduling sending and receiving data, sending out remote command A and transmitting data B to the protocol processing unit, and receiving the total telemetry C and data field D returned from the protocol processing unit.
所述协议处理单元200,用于负责协议的顶层实现及对调制单元和解调单元的调度,对接收到的遥控指令A进行校验后,提取自身单元相关参数信息、调制单元相关参数信息E和解调单元相关参数信息F,并将调制单元相关参数信息E发送至调制单元,将解调单元相关参数信息F发送至解调单元;接收传输数据B,并按协议规定,产生待发数据G,将待发数据G传输至调制单元;提取调制单元遥测量H和解调单元遥测量I,并根据自身状态,产生总遥测量C,将总遥测量C发送至数管中心;接收解调单元的数据流J,进行校验后,将接收的解调单元的数据流J中的数据域D发送至数管中心。The protocol processing unit 200 is responsible for the top-level implementation of the protocol and the scheduling of the modulation unit and the demodulation unit, after checking the received remote control instruction A, extracting the relevant parameter information of its own unit and the relevant parameter information E of the modulation unit and the demodulation unit related parameter information F, and send the modulation unit related parameter information E to the modulation unit, and the demodulation unit related parameter information F to the demodulation unit; receive the transmission data B, and generate the data to be sent according to the protocol G, transmit the data G to be sent to the modulation unit; extract the telemetry H of the modulation unit and the telemetry I of the demodulation unit, and generate the total telemetry C according to its own state, and send the total telemetry C to the data management center; receive the solution The data stream J of the demodulation unit is verified, and the data field D in the data stream J of the demodulation unit is sent to the data management center.
所述调制单元300,用于接收协议处理单元发送的调制单元相关参数信息E,根据所述协议处理单元发送的调制单元相关参数信息E配置自身相关参数;根据自身工作状态,产生调制单元遥测量H,将产生的调制单元遥测量H发送至协议处理单元;以及,接收协议处理单元发送的待发数据G,编码后,PM调制至中频输出至解调单元。The modulation unit 300 is configured to receive the modulation unit related parameter information E sent by the protocol processing unit, configure its own related parameters according to the modulation unit related parameter information E sent by the protocol processing unit; generate the modulation unit telemetry according to its own working state H, sending the generated remote measurement H of the modulation unit to the protocol processing unit; and receiving the data G sent by the protocol processing unit, after encoding, PM modulation to the intermediate frequency and outputting to the demodulation unit.
所述解调单元400,用于接收协议处理单元发送的解调单元相关参数信息F,根据所述协议处理单元发送的解调单元相关参数信息F配置自身相关参数;根据自身工作状态,产生解调单元遥测量I;对解调单元输入的中频信号符号同步、载波同步及译码后,将得到数据流J输出至协议处理单元。The demodulation unit 400 is configured to receive the demodulation unit related parameter information F sent by the protocol processing unit, configure its own related parameters according to the demodulation unit related parameter information F sent by the protocol processing unit; The modulation unit remotely measures I; after symbol synchronization, carrier synchronization and decoding of the intermediate frequency signal input by the demodulation unit, the obtained data stream J is output to the protocol processing unit.
在本实施例中,协议处理单元200是整个通信架构的核心,具体可以包括:I/O(Input/Output,输入输出)模块201、ARQ(Automatic Repeat Queuing,自动序列重发)模块202、MAC(Media Access Control,介质访问控制)模块203、流程控制模块204、接收处理模块205和相干控制模块206。In this embodiment, the protocol processing unit 200 is the core of the entire communication architecture, and specifically may include: an I/O (Input/Output, input and output) module 201, an ARQ (Automatic Repeat Queuing, automatic sequence retransmission) module 202, a MAC (Media Access Control, medium access control) module 203 , flow control module 204 , reception processing module 205 and coherence control module 206 .
优选的,preferred,
所述I/O模块201,用于接收数管中心发出的传输数据B,当顺序帧流控开放时,向ARQ模块传输顺序帧,当加急帧流控开放时,向ARQ模块传输加急帧;以及,在对接收到的解调单元发出的数据流J进行校验后,将接收的解调单元的数据流J中的数据域D发送至数管中心。The I/O module 201 is used to receive the transmission data B sent by the data management center, when the sequential frame flow control is enabled, transmit the sequential frame to the ARQ module, and when the urgent frame flow control is enabled, transmit the urgent frame to the ARQ module frame; and, after checking the received data stream J sent by the demodulation unit, sending the data domain D in the received data stream J of the demodulation unit to the data management center.
所述MAC模块202,用于接收数管中心发送的遥控指令A,对接收到的遥控指令A进行校验后,提取自身单元相关参数信息、调制单元相关参数信息E和解调单元相关参数信息F,并输出至流程控制模块;以及,接收流程控制模块输出的总遥测量C,并将总遥测量C回传至数管中心。The MAC module 202 is used to receive the remote control instruction A sent by the data control center, and after checking the received remote control instruction A, extract the relevant parameter information of its own unit, the relevant parameter information E of the modulation unit and the relevant parameter information of the demodulation unit F, and output to the process control module; and, receiving the total telemetry C output from the process control module, and sending the total telemetry C back to the data management center.
所述ARQ模块203,用于接收从I/O模块输出的顺序及加急帧,并根据本地加急帧及顺序帧的存储量是否超过阀值,确定是否生成加急流控及顺序流控,并反馈至I/O模块;根据接收到的PLCW(Proximity Link Control Word,临近链路控制字)帧序号,选取帧号为当前帧号及当前帧号加1的数据帧,输出至流程控制模块;以及,从接收处理模块接收待发送的PLCW,添加至加急帧发送序列;以及,根据流程控制模块给出的要数使能,以加急帧优先顺序帧的发送顺序,将待发帧输出至流程控制模块;The ARQ module 203 is configured to receive sequential and urgent frames output from the I/O module, and determine whether to generate urgent flow control and sequential flow control according to whether the storage capacity of local urgent frames and sequential frames exceeds a threshold, And feed back to the I/O module; according to the received PLCW (Proximity Link Control Word, adjacent link control word) frame number, select the frame number as the current frame number and the data frame of the current frame number plus 1, and output to the process control module ; And, receive the PLCW to be sent from the receiving processing module, and add it to the urgent frame sending sequence; output to the process control module;
所述流程控制模块204,用于根据MAC模块给出的自身单元相关参数信息或从接收处理模块处收到的SPDU(Supervisory Protocol Data Unit,加急协议数据单元)参数,完成协议全双工通信功能;将调制单元相关参数信息E输出至调制单元,将解调单元相关参数信息F输出至接收处理模块;以及,从调制单元接收调制单元遥测量H,从接收处理模块接收解调单元遥测量I,并根据自身状态,产生总遥测量C,将总遥测量C发送至MAC模块。The process control module 204 is used to complete the protocol full-duplex communication according to the unit-related parameter information provided by the MAC module or the SPDU (Supervisory Protocol Data Unit) parameter received from the receiving processing module. Function; output the modulation unit related parameter information E to the modulation unit, output the demodulation unit related parameter information F to the receiving processing module; and receive the modulation unit telemetry H from the modulation unit, and receive the demodulation unit telemetry from the receiving processing module I, and according to its own state, generate a total telemetry C, and send the total telemetry C to the MAC module.
所述接收处理模块205,用于从解调单元输入的数据流中,识别PLCW帧并将PLCW帧序号输出至ARQ模块;根据接收到的顺序帧帧序号,生成待发送的PLCW,输出至ARQ模块;将接收的流程控制模块输出的解调单元相关参数信息F输出至解调单元;将解调单元输入的相关参数中转至流程控制模块;根据解调单元输入的相关参数,在本地生成SPDU(设置对方发射机参数),并输出至流程控制模块;接收解调单元的解调单元遥测量I,并发送至流程控制模块。The receiving processing module 205 is used to identify the PLCW frame and output the PLCW frame number to the ARQ module from the data stream input by the demodulation unit; generate the PLCW to be sent according to the received sequence frame number and output it to the ARQ Module; output the demodulation unit related parameter information F output by the received process control module to the demodulation unit; transfer the relevant parameters input by the demodulation unit to the process control module; generate SPDU locally according to the relevant parameters input by the demodulation unit (setting the transmitter parameters of the other side), and output to the process control module; the demodulation unit of the receiving demodulation unit measures I remotely, and sends it to the process control module.
所述相干控制模块206,用于根据MAC模块给出的控制指令或接收到的SPDU参数,确定相干模式开启后,将接收频率乘以相应的转发比生成发射频率,输出至调制单元。The coherent control module 206 is configured to determine that the coherent mode is enabled according to the control command given by the MAC module or the received SPDU parameters, and then multiply the received frequency by the corresponding forwarding ratio to generate a transmission frequency, and output it to the modulation unit.
在本发明一优选实施例中,协议处理单元200所包括的六个模块的具体功能可以如下表1所示,In a preferred embodiment of the present invention, the specific functions of the six modules included in the protocol processing unit 200 can be shown in Table 1 below,
表1Table 1
其中,需要说明的是,在本实施例中,调制单元的自身相关参数包括:信道、编码方式和速率档中的至少一种;解调单元的自身相关参数包括:信道、编码方式和速率档中的至少一种;协议处理单元的自身相关参数包括:全局复位、全双工发起及响应模式、自适应切换模式和相干模式中的至少一种。解调单元输入的相关参数包括:信噪比(Signal-NoiseRatio,SNR,信噪比)、呼叫响应指令、远端无数据指令、失锁指令和接收到的SPDU参数中的至少一种。Among them, it should be noted that, in this embodiment, the self-related parameters of the modulation unit include: at least one of channel, coding method and rate file; the self-related parameters of the demodulation unit include: channel, coding method and rate file At least one of them; the relevant parameters of the protocol processing unit itself include: at least one of global reset, full-duplex initiation and response mode, adaptive switching mode and coherent mode. The relevant parameters input by the demodulation unit include: at least one of signal-to-noise ratio (Signal-NoiseRatio, SNR, signal-to-noise ratio), call response command, remote no data command, lock-out command and received SPDU parameters.
在本实施例中,流程控制模块204完成了整个系统的总控,包括但不仅于由10个状态基组成(状态0、状态1、状态2、状态3、状态4、状态5、状态6、状态7、状态8和状态9),这些状态基的功能及其跳转实现了高可靠大吞吐率通信的各项功能。本发明以全双工临近空间协议为基础,将信号频点、编码方式、速率档及帧长有机的结合起来,在兼容现有协议的基础上,在1片550万门的FPGA(Field-Programmable Gate Array,现场可编程门阵列)上实现,使得系统的可靠性更高、吞吐量更大、效率更高,极大的降低了资源的消耗。In this embodiment, the process control module 204 completes the overall control of the entire system, including but not limited to 10 state bases (state 0, state 1, state 2, state 3, state 4, state 5, state 6, State 7, State 8, and State 9), the functions of these state bases and their transitions realize various functions of high-reliability and high-throughput communication. Based on the full-duplex near-space protocol, the present invention organically combines signal frequency points, coding methods, rate files and frame lengths, and on the basis of being compatible with existing protocols, a FPGA with 5.5 million gates (Field- Programmable Gate Array (Field Programmable Gate Array), which makes the system more reliable, higher throughput, higher efficiency, and greatly reduces resource consumption.
参照图2,示出了本发明实施例中一种流程控制模块的控制流程示意图。下面结合图2,对所述流程控制模块204的具体功能进行详细说明。Referring to FIG. 2 , it shows a schematic diagram of a control flow of a flow control module in an embodiment of the present invention. The specific functions of the process control module 204 will be described in detail below with reference to FIG. 2 .
优选的,所述流程控制模块204,用于:Preferably, the process control module 204 is configured to:
接收MAC模块给出的遥控指令,进入初始状态;Receive the remote control command given by the MAC module and enter the initial state;
检测系统响应模式;detection system response mode;
若系统响应模式为全双工发起模式,进入状态1,控制所述调制单元依次发送1s的单载波和384bit的空闲序列;将所述MAC模块的输入参数组成SPDU帧,送入调制单元发出;在发送64bit的尾序列之后关闭发射机;控制计时器启动,当计时器到达预设时刻T2时,若接收端返回的呼叫响应指令无效,则控制计时器清零,进入状态2,计时器清0;将发射机参数设置为全双工发起状态下的默认速率、频率及编码方式,在设置完成之后跳转到状态1;若接收端返回的呼叫响应指令有效,则设置解调单元的自身相关参数,计时器清0,进入状态3;If the system response mode is a full-duplex initiation mode, enter state 1, control the modulation unit to send the single carrier of 1s and the idle sequence of 384bit in turn; form the SPDU frame with the input parameters of the MAC module, send it into the modulation unit and send it; Turn off the transmitter after sending the 64bit tail sequence; control the timer to start, when the timer reaches the preset time T2, if the call response command returned by the receiving end is invalid, the control timer is cleared, enters state 2, and the timer is cleared 0; set the transmitter parameters to the default rate, frequency and encoding mode in the full-duplex initiation state, and jump to state 1 after the setting is completed; if the call response command returned by the receiving end is valid, set the demodulation unit itself Relevant parameters, the timer is cleared to 0, and enters state 3;
若系统响应模式为全双工响应模式,进入状态0,当成功收到接收处理模块的SPDU参数时,产生相应的呼叫响应帧,加入到加急发送序列中,并设置解调单元业务下的频点、速率及编码方式;若位同步锁定,进入状态3;If the system response mode is full-duplex response mode, enter state 0, when the SPDU parameters of the receiving processing module are successfully received, a corresponding call response frame is generated, added to the urgent sending sequence, and the demodulation unit service is set Frequency point, rate and encoding method; if the bit is synchronously locked, enter state 3;
在状态3时,设置发射单元参数及接收单元参数至相应业务下的频点、速率及编码方式,控制调制单元启动,在发送1s的单载波及384个空闲序列后实现切换控制。In state 3, set the transmitting unit parameters and receiving unit parameters to the frequency point, rate and coding mode of the corresponding service, control the modulation unit to start, and realize switching control after sending a 1s single carrier and 384 idle sequences.
优选的,流程控制模块204在切换控制时,具体用于:Preferably, the process control module 204 is specifically used for:
在切换控制时,根据MAC模块给出的遥控指令所指示的模式,进行状态切换;When switching control, switch the state according to the mode indicated by the remote control command given by the MAC module;
当遥控指令所指示的模式为非自适应模式时,进入状态4,若所述调制单元的流控指令为0,向ARQ模块的要数使能置为1,以使ARQ模块收到使能后输出一加急帧优先级高于顺序帧的整帧数据;当检测到ARQ模块输出使能为1时,则要数使能置0,提取帧长M1,并将整帧输出至调制单元;当检测到ARQ模块输出使能为0时,检测是否失锁、本地无数据是否有效和远端无数据是否有效;其中,若失锁,复位所述调制单元和解调单元,返回初始状态;若本地无数据和远端无数据同时有效,复位所述调制单元及解调单元,返回状初始状态;否则,进行状态5;在状态5下,控制计数器开始计数,当计数达到预设数值M1时,计数器清0并实现切换控制;When the mode indicated by the remote control command is a non-adaptive mode, enter state 4, if the flow control command of the modulation unit is 0, the request to the ARQ module can be set to 1, so that the ARQ module receives the enable Then output a full frame of urgent frame data whose priority is higher than that of the sequential frame; when it is detected that the output enable of the ARQ module is 1, the number enable is set to 0, the frame length M1 is extracted, and the entire frame is output to the modulation unit ;When it is detected that the output of the ARQ module is enabled to be 0, it is detected whether the lock is lost, whether the local no data is valid and whether the remote no data is valid; wherein, if the lock is lost, reset the modulation unit and the demodulation unit and return to the initial state ; If the local no data and remote no data are effective simultaneously, reset the modulation unit and the demodulation unit, and return to the initial state; otherwise, proceed to state 5; under state 5, the control counter starts counting, when the count reaches the preset value When M1, the counter is cleared to 0 and switching control is realized;
当遥控指令所指示的模式为自适应模式,且流程控制模块收到切换对方发射机参数的SPDU时,进入状态6,将切换对方发射机参数的SPDU发出,要数使能置为0,不再发出任何信息,进入状态7;在状态7下,控制计时器启动,当计时器到达预设时刻T3时,若仍没有收到接收处理模块发来的位同步失锁指令,则回到状态6,次数计数器记为1,当次数计数器记为3时,结束自适应切换并实现切换控制;若收到接收处理模块发来的失锁指令,则次数计数器清0,计时器清0,进入状态8;在状态8下,设置解调单元至新业务参数,并开始计时,当计时器到达预设时刻T4时,查看失锁指令,若仍未锁定,结束自适应切换,复位调制单元及解调单元,回到初始状态;若锁定,结束自适应切换,回到状态4,开始发送数据;When the mode indicated by the remote control instruction is the adaptive mode, and the process control module receives the SPDU for switching the parameters of the other party’s transmitter, it enters state 6, and sends out the SPDU for switching the parameters of the other party’s transmitter. Send out any information again, and enter state 7; in state 7, the control timer starts, and when the timer reaches the preset time T3, if the bit synchronization lockout command sent by the receiving processing module is still not received, then return to state 6. The number of times counter is recorded as 1. When the number of times counter is recorded as 3, the adaptive switching is ended and the switching control is realized; if an out-of-lock instruction is received from the receiving processing module, the number of times counter is cleared to 0, the timer is cleared to 0, and enters State 8; in state 8, set the demodulation unit to the new service parameters, and start timing, when the timer reaches the preset time T4, check the lock-out instruction, if it is still not locked, end the adaptive switching, reset the modulation unit and The demodulation unit returns to the initial state; if locked, end the adaptive switching, return to state 4, and start sending data;
当遥控指令所指示的模式为自适应模式,且流程控制模块收到切换本地发射机参数的SPDU时,进入状态9,设置调制单元至新的业务参数,结束自适应切换,进入状态4。When the mode indicated by the remote control instruction is the adaptive mode, and the process control module receives the SPDU for switching the parameters of the local transmitter, it enters state 9, sets the modulation unit to the new service parameter, ends the adaptive switching, and enters state 4.
需要说明的是,在本实施例中,计时器的预设值(T2、T3和T4等)以及计数器的预设值可以根据实际情况确定,本实施例对此不作限制。It should be noted that, in this embodiment, the preset value of the timer (T2, T3, T4, etc.) and the preset value of the counter can be determined according to the actual situation, which is not limited in this embodiment.
综上所述,本发明所述的基于全双工临近空间协议的通信架构,以全双工临近空间协议为基础,将信号频点、编码方式、速率档及帧长有机的结合起来,优化了资源,将调制、解调及协议有机融合,使得临近空间的通信可靠性更高、吞吐量更大、效率更高。In summary, the communication architecture based on the full-duplex near-space protocol in the present invention is based on the full-duplex near-space protocol, organically combining signal frequency points, encoding methods, rate files and frame lengths, and optimizing Resources are saved, and modulation, demodulation, and protocols are organically integrated, making communication in adjacent spaces more reliable, with greater throughput, and with higher efficiency.
本说明中的各个实施例均采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似的部分互相参见即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
以上所述,仅为本发明最佳的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到的变化或替换,都应涵盖在本发明的保护范围之内。The above description is only the best specific implementation mode of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of changes or modifications within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention.
本发明说明书中未作详细描述的内容属于本领域专业技术人员的公知技术。The content that is not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710385301.4A CN107294695B (en) | 2017-05-26 | 2017-05-26 | Communication system based on full-duplex near space protocol |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710385301.4A CN107294695B (en) | 2017-05-26 | 2017-05-26 | Communication system based on full-duplex near space protocol |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107294695A true CN107294695A (en) | 2017-10-24 |
CN107294695B CN107294695B (en) | 2019-12-20 |
Family
ID=60094603
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710385301.4A Active CN107294695B (en) | 2017-05-26 | 2017-05-26 | Communication system based on full-duplex near space protocol |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107294695B (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109495157A (en) * | 2018-11-15 | 2019-03-19 | 西安空间无线电技术研究所 | A kind of full duplex high-throughput bidirectional ARQ communication system and method based on CCSDS agreement |
CN112436881A (en) * | 2020-10-19 | 2021-03-02 | 西安空间无线电技术研究所 | Full-duplex half-duplex seamless self-adaptive switching system based on CCSDS (consultative Commity-1) protocol |
CN114048063A (en) * | 2021-09-28 | 2022-02-15 | 北京控制工程研究所 | Method and system for processing cutting machine or reset fault in driving-off process of Mars vehicle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102752012A (en) * | 2012-05-15 | 2012-10-24 | 北京航空航天大学 | Air vehicle measurement and control system with upper and down links utilizing different spectrum spreading systems |
CN105281046A (en) * | 2015-11-16 | 2016-01-27 | 中国电子科技集团公司第十研究所 | Whole airspace multi-target measurement and control communication system |
CN106130941A (en) * | 2016-06-29 | 2016-11-16 | 西安空间无线电技术研究所 | A kind of multi tate shelves adaptive de adjusting system for residual carrier modulation |
-
2017
- 2017-05-26 CN CN201710385301.4A patent/CN107294695B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102752012A (en) * | 2012-05-15 | 2012-10-24 | 北京航空航天大学 | Air vehicle measurement and control system with upper and down links utilizing different spectrum spreading systems |
CN105281046A (en) * | 2015-11-16 | 2016-01-27 | 中国电子科技集团公司第十研究所 | Whole airspace multi-target measurement and control communication system |
CN106130941A (en) * | 2016-06-29 | 2016-11-16 | 西安空间无线电技术研究所 | A kind of multi tate shelves adaptive de adjusting system for residual carrier modulation |
Non-Patent Citations (1)
Title |
---|
王大庆等: "基于CCSDS协议的临近空间信号跟踪技术性能分析", 《空间电子技术》 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109495157A (en) * | 2018-11-15 | 2019-03-19 | 西安空间无线电技术研究所 | A kind of full duplex high-throughput bidirectional ARQ communication system and method based on CCSDS agreement |
CN109495157B (en) * | 2018-11-15 | 2021-09-03 | 西安空间无线电技术研究所 | Full-duplex high-throughput rate bidirectional ARQ communication system and method based on CCSDS protocol |
CN112436881A (en) * | 2020-10-19 | 2021-03-02 | 西安空间无线电技术研究所 | Full-duplex half-duplex seamless self-adaptive switching system based on CCSDS (consultative Commity-1) protocol |
CN112436881B (en) * | 2020-10-19 | 2022-05-24 | 西安空间无线电技术研究所 | Full-duplex half-duplex seamless self-adaptive switching system based on CCSDS (consultative system for data storage system) proxy-1 protocol |
CN114048063A (en) * | 2021-09-28 | 2022-02-15 | 北京控制工程研究所 | Method and system for processing cutting machine or reset fault in driving-off process of Mars vehicle |
CN114048063B (en) * | 2021-09-28 | 2024-06-07 | 北京控制工程研究所 | A method and system for handling a cutting or resetting fault during a Mars rover's departure |
Also Published As
Publication number | Publication date |
---|---|
CN107294695B (en) | 2019-12-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN103051928B (en) | wireless audio and video data transmission method and device | |
CN107294695B (en) | Communication system based on full-duplex near space protocol | |
CN101662315B (en) | Communication apparatus, communication system, communication method | |
CN104768160B (en) | Method and device for scheduling unlicensed spectrum | |
EP2403274A1 (en) | Wireless communication system and data transmission method thereof | |
EP2928108B1 (en) | System, method and apparatus for multi-lane auto-negotiation over reduced lane media | |
CN105375956B (en) | Queue Buffer Relay Transmission Method in Physical Layer Security Communication | |
CN105453469B (en) | Communication system, infrastructure equipment and method | |
CN107846707A (en) | A kind of method and apparatus in the UE for exempting to authorize, base station | |
Mukherjee et al. | Covert bits through queues | |
CN106533496B (en) | A kind of unreliable relaying duplex communication method based on interference cooperation | |
CN109088702A (en) | Communication means, the network equipment and terminal | |
CN109150416A (en) | Data transmission method and device | |
CN102098092B (en) | Method for quickly establishing satellite-to-ground link | |
CN104935381B (en) | A kind of multichannel Ethernet power port turns optical port one-way transmission apparatus | |
CN108023850A (en) | A kind of wireless communications method and device | |
CN104852793A (en) | Virtual full-duplex relay transmission method based on half-duplex multipath cooperative system | |
CN101848069B (en) | Multi-antenna data transmission method based on graded service, and system and device thereof | |
CN109618408A (en) | A kind of user equipment that be used to wirelessly communicate, the method and apparatus in base station | |
CN109347605B (en) | Encoding method, decoding method and device, and computer readable storage medium | |
CN104993906B (en) | A kind of method and system of message transmission | |
CN109245861A (en) | A kind of physical layer communication method using deep layer artificial neural network | |
Popovski et al. | Two-way communication with energy exchange | |
CN114185825A (en) | Architecture system based on multi-service working mode | |
CN106131968A (en) | A kind of relay base station multicast scheduling method based on fountain codes |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |