Ardupilot Rpanion 4GLTE 网络性能测试 - 国内中转

lida20032024-05-15 17:08

Ardupilot Rpanion 4GLTE 网络性能测试 - 国内中转

  • [1. 源由](#1. 源由)
  • [2. 视频效果](#2. 视频效果)
    • [2.1 整体刷新率不高](#2.1 整体刷新率不高)
    • [2.2 网络延迟可接受](#2.2 网络延迟可接受)
    • [2.3 带宽增加丢包明显](#2.3 带宽增加丢包明显)
    • [2.4 实测效果流畅](#2.4 实测效果流畅)
  • [3. 总结](#3. 总结)

1. 源由

上一次，由于ZeroTier使用了国外服务器，延迟~ 569 ms，花屏、卡顿。

本着不折腾到底，誓不罢休的精神，本次我们将ZeroTier切换到了国内中转服务器。

2. 视频效果

最终视频效果是王道！来我们看下效果。

Ardupilot Rpanion 4GLTE-4GLTE Domestic Routing Copter

2.1 整体刷新率不高

一般都能到59FPS，但是显示器今天不知道怎么只有30FPS，有的时候都不到。

刷新率越差，误差就越大。

2.2 网络延迟可接受

ping延迟不高，大约在[64ms, 306ms]，平均117ms。

ping -t 192.168.235.73

Pinging 192.168.235.73 with 32 bytes of data:
Reply from 192.168.235.73: bytes=32 time=103ms TTL=64
Reply from 192.168.235.73: bytes=32 time=102ms TTL=64
Reply from 192.168.235.73: bytes=32 time=109ms TTL=64
Reply from 192.168.235.73: bytes=32 time=128ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=154ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=131ms TTL=64
Reply from 192.168.235.73: bytes=32 time=120ms TTL=64
Reply from 192.168.235.73: bytes=32 time=121ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=115ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=112ms TTL=64
Reply from 192.168.235.73: bytes=32 time=192ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=105ms TTL=64
Reply from 192.168.235.73: bytes=32 time=99ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=97ms TTL=64
Reply from 192.168.235.73: bytes=32 time=91ms TTL=64
Reply from 192.168.235.73: bytes=32 time=115ms TTL=64
Reply from 192.168.235.73: bytes=32 time=102ms TTL=64
Reply from 192.168.235.73: bytes=32 time=169ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=119ms TTL=64
Reply from 192.168.235.73: bytes=32 time=83ms TTL=64
Reply from 192.168.235.73: bytes=32 time=108ms TTL=64
Reply from 192.168.235.73: bytes=32 time=147ms TTL=64
Reply from 192.168.235.73: bytes=32 time=132ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=156ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=100ms TTL=64
Reply from 192.168.235.73: bytes=32 time=114ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=99ms TTL=64
Reply from 192.168.235.73: bytes=32 time=85ms TTL=64
Reply from 192.168.235.73: bytes=32 time=88ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=106ms TTL=64
Reply from 192.168.235.73: bytes=32 time=116ms TTL=64
Reply from 192.168.235.73: bytes=32 time=117ms TTL=64
Reply from 192.168.235.73: bytes=32 time=104ms TTL=64
Reply from 192.168.235.73: bytes=32 time=105ms TTL=64
Reply from 192.168.235.73: bytes=32 time=99ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=86ms TTL=64
Reply from 192.168.235.73: bytes=32 time=144ms TTL=64
Reply from 192.168.235.73: bytes=32 time=81ms TTL=64
Reply from 192.168.235.73: bytes=32 time=79ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=132ms TTL=64
Reply from 192.168.235.73: bytes=32 time=92ms TTL=64
Reply from 192.168.235.73: bytes=32 time=96ms TTL=64
Reply from 192.168.235.73: bytes=32 time=121ms TTL=64
Reply from 192.168.235.73: bytes=32 time=133ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=97ms TTL=64
Reply from 192.168.235.73: bytes=32 time=127ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=96ms TTL=64
Reply from 192.168.235.73: bytes=32 time=120ms TTL=64
Reply from 192.168.235.73: bytes=32 time=101ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=144ms TTL=64
Reply from 192.168.235.73: bytes=32 time=107ms TTL=64
Reply from 192.168.235.73: bytes=32 time=112ms TTL=64
Reply from 192.168.235.73: bytes=32 time=139ms TTL=64
Reply from 192.168.235.73: bytes=32 time=81ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=116ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=162ms TTL=64
Reply from 192.168.235.73: bytes=32 time=119ms TTL=64
Reply from 192.168.235.73: bytes=32 time=120ms TTL=64
Reply from 192.168.235.73: bytes=32 time=306ms TTL=64
Reply from 192.168.235.73: bytes=32 time=143ms TTL=64
Reply from 192.168.235.73: bytes=32 time=80ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=91ms TTL=64
Reply from 192.168.235.73: bytes=32 time=156ms TTL=64
Reply from 192.168.235.73: bytes=32 time=114ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=184ms TTL=64
Reply from 192.168.235.73: bytes=32 time=110ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=144ms TTL=64
Reply from 192.168.235.73: bytes=32 time=141ms TTL=64
Reply from 192.168.235.73: bytes=32 time=79ms TTL=64
Reply from 192.168.235.73: bytes=32 time=78ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=128ms TTL=64
Reply from 192.168.235.73: bytes=32 time=206ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=126ms TTL=64
Reply from 192.168.235.73: bytes=32 time=154ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=125ms TTL=64
Reply from 192.168.235.73: bytes=32 time=90ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64
Reply from 192.168.235.73: bytes=32 time=111ms TTL=64
Reply from 192.168.235.73: bytes=32 time=113ms TTL=64
Reply from 192.168.235.73: bytes=32 time=106ms TTL=64
Reply from 192.168.235.73: bytes=32 time=94ms TTL=64
Reply from 192.168.235.73: bytes=32 time=92ms TTL=64
Reply from 192.168.235.73: bytes=32 time=96ms TTL=64
Reply from 192.168.235.73: bytes=32 time=114ms TTL=64
Reply from 192.168.235.73: bytes=32 time=122ms TTL=64
Reply from 192.168.235.73: bytes=32 time=93ms TTL=64
Reply from 192.168.235.73: bytes=32 time=165ms TTL=64
Reply from 192.168.235.73: bytes=32 time=135ms TTL=64
Reply from 192.168.235.73: bytes=32 time=185ms TTL=64
Reply from 192.168.235.73: bytes=32 time=124ms TTL=64
Reply from 192.168.235.73: bytes=32 time=64ms TTL=64
Reply from 192.168.235.73: bytes=32 time=89ms TTL=64
Reply from 192.168.235.73: bytes=32 time=84ms TTL=64
Reply from 192.168.235.73: bytes=32 time=90ms TTL=64
Reply from 192.168.235.73: bytes=32 time=112ms TTL=64
Reply from 192.168.235.73: bytes=32 time=92ms TTL=64
Reply from 192.168.235.73: bytes=32 time=90ms TTL=64
Reply from 192.168.235.73: bytes=32 time=78ms TTL=64
Reply from 192.168.235.73: bytes=32 time=129ms TTL=64

Ping statistics for 192.168.235.73:
    Packets: Sent = 129, Received = 129, Lost = 0 (0% loss),
Approximate round trip times in milli-seconds:
    Minimum = 64ms, Maximum = 306ms, Average = 117ms
Control-C

2.3 带宽增加丢包明显

iperf情况很诡异：相较于《Ardupilot Rpanion iperf网络性能测试》情况更差，但是实际效果不错。

$ iperf -b 300pps -u -e -i 1 -l 1400  -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2627 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.235.73%ztjjfduqpe port 47594 connected with 192.168.235.63 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec   410 KBytes  3.36 Mbits/sec  301/0      302 pps
[  3] 1.0000-2.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 2.0000-3.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 3.0000-4.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 4.0000-5.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 5.0000-6.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 6.0000-7.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 7.0000-8.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 8.0000-9.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 9.0000-10.0000 sec   410 KBytes  3.36 Mbits/sec  300/0      300 pps
[  3] 0.0000-10.0069 sec  4.01 MBytes  3.36 Mbits/sec  3005/0      300 pps
[  3] Sent 3005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0125 sec  4.01 MBytes  3.36 Mbits/sec   5.955 ms    0/ 3004 (0%)

 $ iperf -b 350pps -u -e -i 1 -l 1400  -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2690 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.235.73%ztjjfduqpe port 43876 connected with 192.168.235.63 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec   479 KBytes  3.92 Mbits/sec  351/0      352 pps
[  3] 1.0000-2.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 2.0000-3.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 3.0000-4.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 4.0000-5.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 5.0000-6.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 6.0000-7.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 7.0000-8.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 8.0000-9.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 9.0000-10.0000 sec   479 KBytes  3.92 Mbits/sec  350/0      350 pps
[  3] 0.0000-10.0059 sec  4.68 MBytes  3.92 Mbits/sec  3505/0      350 pps
[  3] Sent 3505 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0302 sec  4.68 MBytes  3.91 Mbits/sec   5.143 ms    0/ 3504 (0%)

 $ iperf -b 400pps -u -e -i 1 -l 1400  -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2697 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.235.73%ztjjfduqpe port 33690 connected with 192.168.235.63 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec   547 KBytes  4.48 Mbits/sec  401/0      402 pps
[  3] 1.0000-2.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 2.0000-3.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 3.0000-4.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 4.0000-5.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 5.0000-6.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 6.0000-7.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 7.0000-8.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 8.0000-9.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 9.0000-10.0000 sec   547 KBytes  4.48 Mbits/sec  400/0      400 pps
[  3] 0.0000-10.0028 sec  5.34 MBytes  4.48 Mbits/sec  4004/0      400 pps
[  3] Sent 4004 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0392 sec  5.34 MBytes  4.46 Mbits/sec   4.412 ms    0/ 4003 (0%)

$ iperf -b 500pps -u -e -i 1 -l 1400  -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2709 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.235.73%ztjjfduqpe port 44078 connected with 192.168.235.63 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec   684 KBytes  5.60 Mbits/sec  501/0      502 pps
[  3] 1.0000-2.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 2.0000-3.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 3.0000-4.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 4.0000-5.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 5.0000-6.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 6.0000-7.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 7.0000-8.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 8.0000-9.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 9.0000-10.0000 sec   684 KBytes  5.60 Mbits/sec  500/0      500 pps
[  3] 0.0000-10.0042 sec  6.68 MBytes  5.60 Mbits/sec  5005/0      500 pps
[  3] Sent 5005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.1477 sec  5.67 MBytes  4.69 Mbits/sec  11.400 ms  756/ 5005 (15%)

$ iperf -b 550pps -u -e -i 1 -l 1400  -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2716 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.235.73%ztjjfduqpe port 49192 connected with 192.168.235.63 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec   752 KBytes  6.16 Mbits/sec  551/0      552 pps
[  3] 1.0000-2.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 2.0000-3.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 3.0000-4.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 4.0000-5.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 5.0000-6.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 6.0000-7.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 7.0000-8.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 8.0000-9.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 9.0000-10.0000 sec   752 KBytes  6.16 Mbits/sec  550/0      550 pps
[  3] 0.0000-10.0040 sec  7.35 MBytes  6.16 Mbits/sec  5505/0      550 pps
[  3] Sent 5505 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-9.9913 sec  5.62 MBytes  4.72 Mbits/sec   3.449 ms 1293/ 5504 (23%)

$ iperf -b 600pps -u -e -i 1 -l 1400  -c 192.168.235.63
------------------------------------------------------------
Client connecting to 192.168.235.63, UDP port 5001 with pid 2724 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.235.73%ztjjfduqpe port 49983 connected with 192.168.235.63 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec   820 KBytes  6.72 Mbits/sec  601/0      602 pps
[  3] 1.0000-2.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 2.0000-3.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 3.0000-4.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 4.0000-5.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 5.0000-6.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 6.0000-7.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 7.0000-8.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 8.0000-9.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 9.0000-10.0000 sec   820 KBytes  6.72 Mbits/sec  600/0      600 pps
[  3] 0.0000-10.0035 sec  8.01 MBytes  6.72 Mbits/sec  6005/0      600 pps
[  3] Sent 6005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-9.9823 sec  5.55 MBytes  4.66 Mbits/sec   3.217 ms 1847/ 6004 (31%)

2.4 实测效果流畅

实测~ 251 ms 时延； 平均延时117/2 = 58.5 ms, 251 - 58.5 = 192.5 ms左右

3. 总结

综合上面的情况，整体分析：

  1. 上述网络配置情况，视频基本流畅，无雪花，卡顿，性能基本OK，可进行外场测试
  2. 计算机刷屏FPS未能稳定维持在59FPS，待查测试环境
  3. 部分截图发现，延迟甚至有1s之久，可能与刷屏或者最差网络环境有关
  4. 实测时需要关注不稳定的4GLTE网络，以及最差情况是否出现卡顿或者延迟问题

好了，小伙伴们，等我外场测试的好消息！ ：）

  1. 飞机有点重，手动有点不太敢飞；
  2. 飞stablize感觉有点不习惯，摇摇晃晃的；
  3. 摄像头720P 30FPS，但是感觉摄像头有点不太对，已经和厂家联系（看看是配置、调焦还是什么问题）
  4. 不过好歹是第一次外场飞，呵呵！ 大家感觉如何？？？

Ardupilot 4.5.1 Rpanion 4GLTE(Domestic Routing) 720P First Fly

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