Ardupilot Rpanion iperf网络性能测试

news2024/11/16 17:46:38

Ardupilot Rpanion iperf网络性能测试

  • 1. 源由
  • 2. 分析
  • 3. 安装
  • 4. 测试
    • 4.1 第一次测试
      • 4.1.1 iperf测试参数A
        • 4.1.1.1 测试链路1
        • 4.1.1.2 测试链路2
        • 4.1.1.3 测试链路3
      • 4.1.2 iperf测试参数B - 测试链路3
        • 4.1.2.1 测试数据
        • 4.1.2.2 数据简单分析
        • 4.1.2.3 数据深入分析
        • 4.1.2.4 模拟测试网络
    • 4.2 第二次测试
      • 4.2.1 测试数据
      • 4.2.2 数据分析
      • 4.2.3 网络延迟分析
      • 4.2.4 视频效果
    • 4.3 第三次测试
      • 4.3.1 测试数据
      • 4.3.2 数据分析
      • 4.3.3 网络延迟分析
      • 4.3.4 视频效果
  • 5. 总结
  • 6. 参考资料
  • 7. ZeroTier优化办法 - Moon节点
    • 7.1 服务端配置
    • 7.2 客户端配置
  • 8. DJI RC系统性能

1. 源由

网络性能测试主要目的是：

  • 评估网络健康状况：网络性能测试可以帮助评估网络的健康状况，包括带宽、延迟、丢包率等指标。通过了解网络的实际性能，可以及时发现并解决网络瓶颈和问题，确保网络的正常运行。

  • 优化网络性能：通过网络性能测试，可以确定网络中存在的瓶颈和性能问题，并采取相应的优化措施。这包括调整网络设备配置、优化网络拓扑、升级网络硬件等，以提高网络的吞吐量、稳定性和可靠性。

  • 规划网络扩展和升级：网络性能测试可以帮助企业规划网络的扩展和升级，以满足不断增长的业务需求。通过了解当前网络的性能状况和未来的需求，可以更好地规划网络架构、设备采购和部署策略。

  • 保障用户体验：良好的网络性能是保障用户体验的关键。网络性能测试可以帮助确保网络对用户提供良好的服务质量，包括快速的响应时间、稳定的连接和高质量的数据传输。

  • 提高网络安全：网络性能测试还可以帮助发现和解决网络安全漏洞和风险。通过测试网络的性能和安全性，可以识别潜在的安全威胁，并采取相应的防护措施，提高网络的安全性和可靠性。

最近要做的是针对视频、电传链路的评估，其在VPN/4G-LTE下性能到底如何？

  • 《ArduPilot开源代码之CompanionComputer上天计划》
  • 《Ardupilot开源代码之Rover上路计划》

2. 分析

在进行网络性能测试时，其主要步骤如下：

  • 清晰的测试目标：确定您要测试的网络性能指标，例如带宽、延迟、丢包率等。确保您的测试目标清晰明确，并且测试过程中能够量化和记录这些指标。

  • 选择适当的测试工具：根据您的测试需求选择合适的工具。一些常用的网络性能测试工具包括iperf、Wireshark、PingPlotter等。确保您选择的工具能够提供您需要的功能和数据输出。

  • 测试环境的准备：在进行测试之前，确保测试环境的稳定性和一致性。避免在网络负载较高的时段进行测试，以免影响测试结果。另外，确保测试设备和网络连接的稳定性，以避免测试过程中出现干扰或故障。

  • 数据采集和分析：在测试过程中，及时记录测试数据，并进行分析和比较。这些数据可以帮助您评估网络性能，并识别潜在的问题和瓶颈。确保您使用的工具能够提供详细的测试结果和分析功能。

  • 安全性和合规性：在进行网络性能测试时，确保您的测试活动不会对网络安全造成威胁，并遵守相关的法律法规和政策要求。在测试之前，与相关部门或团队沟通，确保您的测试活动符合组织的安全和合规标准。

  • 测试结果的验证和确认：在完成测试之后，验证和确认测试结果的准确性和可靠性。如果可能，进行多次测试以确保结果的一致性，并与预期的性能指标进行比较。

综上所述，网络性能测试需要仔细的规划和准备工作，以确保测试结果的准确性和可信度。通过遵循上述注意事项，您可以更好地评估和优化网络性能，提高网络的稳定性和效率。

3. 安装

  • Jetson Orin Nano
$ sudo apt-get install iperf
$ iperf --version
iperf version 2.1.5 (3 December 2021) pthreads
  • Raspberrry Pi 3B+
$ sudo apt-get install iperf
$ iperf --version
iperf version 2.0.14a (2 October 2020) pthreads

$ iperf --version
iperf version 2.1.5 (3 December 2021) pthreads
daniel@daniel-nvidia:~$ iperf -h
Usage: iperf [-s|-c host] [options]
       iperf [-h|--help] [-v|--version]

Client/Server:
  -b, --bandwidth #[kmgKMG | pps]  bandwidth to read/send at in bits/sec or packets/sec
  -e, --enhanced    use enhanced reporting giving more tcp/udp and traffic information
  -f, --format    [kmgKMG]   format to report: Kbits, Mbits, KBytes, MBytes
      --hide-ips           hide ip addresses and host names within outputs
  -i, --interval  #        seconds between periodic bandwidth reports
  -l, --len       #[kmKM]    length of buffer in bytes to read or write (Defaults: TCP=128K, v4 UDP=1470, v6 UDP=1450)
  -m, --print_mss          print TCP maximum segment size (MTU - TCP/IP header)
  -o, --output    <filename> output the report or error message to this specified file
  -p, --port      #        client/server port to listen/send on and to connect
      --permit-key         permit key to be used to verify client and server (TCP only)
      --sum-only           output sum only reports
  -u, --udp                use UDP rather than TCP
  -w, --window    #[KM]    TCP window size (socket buffer size)
  -z, --realtime           request realtime scheduler
  -B, --bind <host>[:<port>][%<dev>] bind to <host>, ip addr (including multicast address) and optional port and device
  -C, --compatibility      for use with older versions does not sent extra msgs
  -M, --mss       #        set TCP maximum segment size (MTU - 40 bytes)
  -N, --nodelay            set TCP no delay, disabling Nagle's Algorithm
  -S, --tos       #        set the socket's IP_TOS (byte) field
  -Z, --tcp-congestion <algo>  set TCP congestion control algorithm (Linux only)

Server specific:
  -p, --port      #[-#]    server port(s) to listen on/connect to
  -s, --server             run in server mode
  -1, --singleclient       run one server at a time
      --histograms         enable latency histograms
      --permit-key-timeout set the timeout for a permit key in seconds
      --tcp-rx-window-clamp set the TCP receive window clamp size in bytes
      --tap-dev   #[<dev>] use TAP device to receive at L2 layer
  -t, --time      #        time in seconds to listen for new connections as well as to receive traffic (default not set)
      --udp-histogram #,#  enable UDP latency histogram(s) with bin width and count, e.g. 1,1000=1(ms),1000(bins)
  -B, --bind <ip>[%<dev>]  bind to multicast address and optional device
  -U, --single_udp         run in single threaded UDP mode
      --sum-dstip          sum traffic threads based upon destination ip address (default is src ip)
  -D, --daemon             run the server as a daemon
  -V, --ipv6_domain        Enable IPv6 reception by setting the domain and socket to AF_INET6 (Can receive on both IPv4 and IPv6)

Client specific:
  -c, --client    <host>   run in client mode, connecting to <host>
      --connect-only       run a connect only test
      --connect-retries #  number of times to retry tcp connect
  -d, --dualtest           Do a bidirectional test simultaneously (multiple sockets)
      --fq-rate #[kmgKMG]  bandwidth to socket pacing
      --full-duplex        run full duplex test using same socket
      --ipg                set the the interpacket gap (milliseconds) for packets within an isochronous frame
      --isochronous <frames-per-second>:<mean>,<stddev> send traffic in bursts (frames - emulate video traffic)
      --incr-dstip         Increment the destination ip with parallel (-P) traffic threads
      --incr-dstport       Increment the destination port with parallel (-P) traffic threads
      --incr-srcip         Increment the source ip with parallel (-P) traffic threads
      --incr-srcport       Increment the source port with parallel (-P) traffic threads
      --local-only         Set don't route on socket
      --near-congestion=[w] Use a weighted write delay per the sampled TCP RTT (experimental)
      --no-connect-sync    No sychronization after connect when -P or parallel traffic threads
      --no-udp-fin         No final server to client stats at end of UDP test
  -n, --num       #[kmgKMG]    number of bytes to transmit (instead of -t)
  -r, --tradeoff           Do a fullduplexectional test individually
      --tcp-write-prefetch set the socket's TCP_NOTSENT_LOWAT value in bytes and use event based writes
  -t, --time      #        time in seconds to transmit for (default 10 secs)
      --trip-times         enable end to end measurements (requires client and server clock sync)
      --txdelay-time       time in seconds to hold back after connect and before first write
      --txstart-time       unix epoch time to schedule first write and start traffic
  -B, --bind [<ip> | <ip:port>] bind ip (and optional port) from which to source traffic
  -F, --fileinput <name>   input the data to be transmitted from a file
  -H, --ssm-host <ip>      set the SSM source, use with -B for (S,G)
  -I, --stdin              input the data to be transmitted from stdin
  -L, --listenport #       port to receive fullduplexectional tests back on
  -P, --parallel  #        number of parallel client threads to run
  -R, --reverse            reverse the test (client receives, server sends)
  -S, --tos                IP DSCP or tos settings
  -T, --ttl       #        time-to-live, for multicast (default 1)
  -V, --ipv6_domain        Set the domain to IPv6 (send packets over IPv6)
  -X, --peer-detect        perform server version detection and version exchange

Miscellaneous:
  -x, --reportexclude [CDMSV]   exclude C(connection) D(data) M(multicast) S(settings) V(server) reports
  -y, --reportstyle C      report as a Comma-Separated Values
  -h, --help               print this message and quit
  -v, --version            print version information and quit

[kmgKMG] Indicates options that support a k,m,g,K,M or G suffix
Lowercase format characters are 10^3 based and uppercase are 2^n based
(e.g. 1k = 1000, 1K = 1024, 1m = 1,000,000 and 1M = 1,048,576)

The TCP window size option can be set by the environment variable
TCP_WINDOW_SIZE. Most other options can be set by an environment variable
IPERF_<long option name>, such as IPERF_BANDWIDTH.

Source at <http://sourceforge.net/projects/iperf2/>
Report bugs to <iperf-users@lists.sourceforge.net>

4. 测试

  • 测试指标：带宽、延迟、丢包率、稳定性。其他的可靠性、安全性等暂不考虑。
  • 测试工具：iperf

4.1 第一次测试

目前，本地已有的测试环境的【网络拓扑A】，如下所示：
在这里插入图片描述

4.1.1 iperf测试参数A

  • 服务端：iperf -u -s
  • 客户端：iperf -u -T 10 -b [1M] -c [server address]
4.1.1.1 测试链路1
  • 局域网测试：Pi --> Hub --> Jetson
  • 服务端IP地址：192.168.1.19 (Jetson)
  • 客户端IP地址：192.168.1.201 (Pi)
$ iperf -u -T 10 -b 1M -c 192.168.1.19
------------------------------------------------------------
Client connecting to 192.168.1.19, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.1.201 port 49022 connected with 192.168.1.19 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0153 sec  1.25 MBytes  1.05 Mbits/sec
[  3] Sent 896 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0116 sec  1.25 MBytes  1.05 Mbits/sec   3.065 ms    0/  895 (0%)

$ iperf -u -T 10 -b 2M -c 192.168.1.19
------------------------------------------------------------
Client connecting to 192.168.1.19, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.1.201 port 46959 connected with 192.168.1.19 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0098 sec  2.50 MBytes  2.10 Mbits/sec
[  3] Sent 1788 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-9.9998 sec  2.50 MBytes  2.10 Mbits/sec   2.513 ms    0/ 1787 (0%)

$ iperf -u -T 10 -b 3M -c 192.168.1.19
------------------------------------------------------------
Client connecting to 192.168.1.19, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 192.168.1.201 port 44713 connected with 192.168.1.19 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0079 sec  3.75 MBytes  3.15 Mbits/sec
[  3] Sent 2680 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0206 sec  3.75 MBytes  3.14 Mbits/sec   2.352 ms    1/ 2679 (0.037%)

  • 1M带宽测试：
    带宽：1.05 Mbits/sec
    丢包率：0%
    Jitter：3.065 ms

  • 2M带宽测试：
    带宽：2.10 Mbits/sec
    丢包率：0%
    Jitter：2.513 ms

  • 3M带宽测试：
    带宽：3.14 Mbits/sec
    丢包率：0.037%
    Jitter：2.352 ms

4.1.1.2 测试链路2
  • 预设条件：4G LTE SIM卡移除
  • VPN测试：Pi --> Hub --> Modem --> Server --> Modem --> Hub --> AP --> Jetson
  • 服务端IP地址：172.24.42.46 (Jetson)
  • 客户端IP地址：172.24.161.33 (Pi)
$ iperf -u -T 10 -b 1M -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33 port 43642 connected with 172.24.42.46 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0153 sec  1.25 MBytes  1.05 Mbits/sec
[  3] Sent 896 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-9.9983 sec  1.25 MBytes  1.05 Mbits/sec   3.425 ms    0/  895 (0%)

$ iperf -u -T 10 -b 2M -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33 port 43610 connected with 172.24.42.46 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0098 sec  2.50 MBytes  2.10 Mbits/sec
[  3] Sent 1788 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0097 sec  2.50 MBytes  2.10 Mbits/sec   3.465 ms    0/ 1787 (0%)

$ iperf -u -T 10 -b 3M -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33 port 37048 connected with 172.24.42.46 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0041 sec  3.75 MBytes  3.15 Mbits/sec
[  3] Sent 2679 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0336 sec  3.75 MBytes  3.14 Mbits/sec   4.807 ms    0/ 2678 (0%)

  • 1M带宽测试：
    带宽：1.05 Mbits/sec
    丢包率：0%
    Jitter：3.425 ms

  • 2M带宽测试：
    带宽：2.10 Mbits/sec
    丢包率：0%
    Jitter：3.465 ms

  • 3M带宽测试：
    带宽：3.14 Mbits/sec
    丢包率：0%
    Jitter：4.807 ms

4.1.1.3 测试链路3
  • 预设条件：有线IP网络物理断开
  • VPN测试：Pi --> 4G LTE --> BTS --> Server --> Modem --> Hub --> AP --> Jetson
  • 服务端IP地址：172.24.42.46 (Jetson)
  • 客户端IP地址：172.24.161.33 (Pi)
$ iperf -u -T 10 -b 1M -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33 port 34869 connected with 172.24.42.46 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0154 sec  1.25 MBytes  1.05 Mbits/sec
[  3] Sent 896 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-9.9907 sec  1.25 MBytes  1.05 Mbits/sec   8.210 ms    0/  895 (0%)

$ iperf -u -T 10 -b 2M -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33 port 35665 connected with 172.24.42.46 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0098 sec  2.50 MBytes  2.10 Mbits/sec
[  3] Sent 1788 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-9.9933 sec  2.50 MBytes  2.10 Mbits/sec   7.350 ms    0/ 1787 (0%)

$ iperf -u -T 10 -b 3M -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33 port 43883 connected with 172.24.42.46 port 5001
[ ID] Interval       Transfer     Bandwidth
[  3] 0.0000-10.0079 sec  3.75 MBytes  3.15 Mbits/sec
[  3] Sent 2680 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0150 sec  3.75 MBytes  3.14 Mbits/sec   5.268 ms    0/ 2679 (0%)

  • 1M带宽测试：
    带宽：1.05 Mbits/sec
    丢包率：0%
    Jitter：8.210 ms

  • 2M带宽测试：
    带宽：2.10 Mbits/sec
    丢包率：0%
    Jitter：7.350 ms

  • 3M带宽测试：
    带宽：3.14 Mbits/sec
    丢包率：0%
    Jitter：5.268 ms

4.1.2 iperf测试参数B - 测试链路3

为什么要引入测试参数B？主要原因是：

  1. 4G LTE视频发现花屏+卡顿现象
  2. 测试参数A给出的1/2/3链路状况都是非常理想的
    上述两个现象与实际结果发生了严重的不一致问题，太困惑了。
  • 4G LTE networks results in significant screen freezing and stuttering #225

怀疑：是否是iperf测试参数问题导致测试结果不准确。因此，调整测试参数如下：

  • 服务端：iperf -u -s
  • 客户端：iperf -u -T 10 -b [1M] -l 20 -e -i 1 -t 60 -c [server address]

预设条件：有线IP网络物理断开
VPN测试：Pi --> 4G LTE --> BTS --> Server --> Modem --> Hub --> AP --> Jetson
服务端IP地址：172.24.42.46 (Jetson)
客户端IP地址：172.24.161.33 (Pi)

4.1.2.1 测试数据
$ iperf -u -T 10 -b 2M -l 20 -e -i 1 -t 60 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 950 (1 flows)
Write buffer size: 20.0 Byte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 57316 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec   256 KBytes  2.10 Mbits/sec  13104/0    13105 pps
[  3] 1.0000-2.0000 sec   256 KBytes  2.10 Mbits/sec  13111/0    13112 pps
[  3] 2.0000-3.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13106 pps
[  3] 3.0000-4.0000 sec   256 KBytes  2.10 Mbits/sec  13106/0    13108 pps
[  3] 4.0000-5.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13108 pps
[  3] 5.0000-6.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13105 pps
[  3] 6.0000-7.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13107 pps
[  3] 7.0000-8.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13108 pps
[  3] 8.0000-9.0000 sec   256 KBytes  2.10 Mbits/sec  13103/0    13103 pps
[  3] 9.0000-10.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13112 pps
[  3] 10.0000-11.0000 sec   256 KBytes  2.10 Mbits/sec  13111/0    13106 pps
[  3] 11.0000-12.0000 sec   256 KBytes  2.10 Mbits/sec  13106/0    13108 pps
[  3] 12.0000-13.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13107 pps
[  3] 13.0000-14.0000 sec   256 KBytes  2.10 Mbits/sec  13105/0    13107 pps
[  3] 14.0000-15.0000 sec   256 KBytes  2.10 Mbits/sec  13105/0    13102 pps
[  3] 15.0000-16.0000 sec   256 KBytes  2.10 Mbits/sec  13112/0    13113 pps
[  3] 16.0000-17.0000 sec   256 KBytes  2.10 Mbits/sec  13104/0    13104 pps
[  3] 17.0000-18.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13111 pps
[  3] 18.0000-19.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13107 pps
[  3] 19.0000-20.0000 sec   256 KBytes  2.10 Mbits/sec  13105/0    13107 pps
[  3] 20.0000-21.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13105 pps
[  3] 21.0000-22.0000 sec   256 KBytes  2.10 Mbits/sec  13105/0    13109 pps
[  3] 22.0000-23.0000 sec   256 KBytes  2.10 Mbits/sec  13097/0    13107 pps
[  3] 23.0000-24.0000 sec   256 KBytes  2.10 Mbits/sec  13120/0    13107 pps
[  3] 24.0000-25.0000 sec   256 KBytes  2.10 Mbits/sec  13106/0    13105 pps
[  3] 25.0000-26.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13110 pps
[  3] 26.0000-27.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13105 pps
[  3] 27.0000-28.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13109 pps
[  3] 28.0000-29.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13105 pps
[  3] 29.0000-30.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13107 pps
[  3] 30.0000-31.0000 sec   256 KBytes  2.10 Mbits/sec  13106/0    13106 pps
[  3] 31.0000-32.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13110 pps
[  3] 32.0000-33.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13108 pps
[  3] 33.0000-34.0000 sec   256 KBytes  2.10 Mbits/sec  13104/0    13107 pps
[  3] 34.0000-35.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13105 pps
[  3] 35.0000-36.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13109 pps
[  3] 36.0000-37.0000 sec   256 KBytes  2.10 Mbits/sec  13106/0    13108 pps
[  3] 37.0000-38.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13105 pps
[  3] 38.0000-39.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13109 pps
[  3] 39.0000-40.0000 sec   256 KBytes  2.10 Mbits/sec  13106/0    13107 pps
[  3] 40.0000-41.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13107 pps
[  3] 41.0000-42.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13107 pps
[  3] 42.0000-43.0000 sec   256 KBytes  2.10 Mbits/sec  13105/0    13107 pps
[  3] 43.0000-44.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13107 pps
[  3] 44.0000-45.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13107 pps
[  3] 45.0000-46.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13104 pps
[  3] 46.0000-47.0000 sec   256 KBytes  2.10 Mbits/sec  13109/0    13109 pps
[  3] 47.0000-48.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13108 pps
[  3] 48.0000-49.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13106 pps
[  3] 49.0000-50.0000 sec   256 KBytes  2.10 Mbits/sec  13105/0    13105 pps
[  3] 50.0000-51.0000 sec   256 KBytes  2.10 Mbits/sec  13110/0    13110 pps
[  3] 51.0000-52.0000 sec   256 KBytes  2.10 Mbits/sec  13104/0    13108 pps
[  3] 52.0000-53.0000 sec   256 KBytes  2.10 Mbits/sec  13110/0    13106 pps
[  3] 53.0000-54.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13108 pps
[  3] 54.0000-55.0000 sec   256 KBytes  2.10 Mbits/sec  13105/0    13108 pps
[  3] 55.0000-56.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13107 pps
[  3] 56.0000-57.0000 sec   256 KBytes  2.10 Mbits/sec  13108/0    13107 pps
[  3] 57.0000-58.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13106 pps
[  3] 58.0000-59.0000 sec   256 KBytes  2.10 Mbits/sec  13106/0    13106 pps
[  3] 59.0000-60.0000 sec   256 KBytes  2.10 Mbits/sec  13107/0    13108 pps
[  3] 0.0000-60.0007 sec  15.0 MBytes  2.10 Mbits/sec  786443/0    13107 pps
[  3] Sent 786443 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-60.1233 sec  7.88 MBytes  1.10 Mbits/sec   0.145 ms 373400/786443 (47%)
[  3] 0.0000-60.1233 sec  32 datagrams received out-of-order
4.1.2.2 数据简单分析
  • 测试设置为使用UDP协议，目标带宽为2Mbps，发送数据包大小为20字节，持续时间为60秒。
  • 客户端连接到IP地址为172.24.42.46的服务器。
  • 在整个测试期间，每秒发送的数据包数量保持在大约13100个左右，除非有数据包丢失，否则保持稳定。
  • 服务器报告显示，在60秒的测试期间，共发送了786443个数据包，其中约47%的数据包丢失，且有32个数据包接收时顺序错乱。
  • 带宽的实际测量结果约为1.10 Mbits/sec，明显低于设定的2Mbps目标带宽。

综上所述，这些数据表明在给定的网络环境下存在丢包和顺序错乱的问题，导致带宽表现不佳。可能的原因包括网络拥塞、传输延迟、或网络设备配置问题。为解决这些问题，可以考虑优化网络配置、增加带宽、或改善网络连接质量。

4.1.2.3 数据深入分析

本次测试已经发现一些线索，至少确实可能存在链路状况不佳的情况。

分析对比测试线A v/s B的差异：

  1. 测试参数A：默认v4 UDP=1470, v6 UDP=1450
  2. 测试参数B：数据包大小20字节，每秒报文数量13105

在维持带宽情况下，小包数量增加，会引起网络拥塞，进而导致丢包率明显增加。此时，出现花屏和卡顿就不足为奇。

从这里可以认识到，之前的测试过于简单。
因为视频流并非只是发送一种长度的报文，可能是变化的；另外，在编码完成后，会有发送报文需求；在图像编码时，视频数据尚没有准备好，此时，并无数据发送需求，网络带宽是空闲的。

引入以下思考：视频传输H264编码P/I帧的数据发送是如何分布的（时空概念）？

  1. 报文大小分布情况如何？
  2. 报文发送速率如何？
  • Bit Rate Throttling Algorithm on Video over RTP

举了一个例子：

  • 高峰时刻I帧，5ms 15个数据包，而I帧又是完整的帧图像，如果此时出现丢包，那可不就是花屏、卡顿。
  • 每间隔2秒，传输报文数量出现一个2倍峰值
  • 15FPS(66.7ms)下，H264每隔62ms出现一个峰值大包传输集中点(时刻)

在这里插入图片描述在这里插入图片描述

4.1.2.4 模拟测试网络

模拟高峰时刻带宽测试：5ms 15包数据(每秒15x1000/5=3000pps)，1400字节一包。

  • 实际测试网络，还存在其他视频链路，应用程序等等网络开销
  • 模拟始终高压传输，导致带宽更加紧张，容易导致UDP丢包

最终结果：81%丢包率，压根没法看视频了（妥妥的2-8定律）

$ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1137 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 49273 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3002 pps
[  3] 1.0000-2.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3000 pps
[  3] 2.0000-3.0000 sec  4.00 MBytes  33.6 Mbits/sec  2996/0     3000 pps
[  3] 3.0000-4.0000 sec  4.01 MBytes  33.6 Mbits/sec  3003/0     2999 pps
[  3] 4.0000-5.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3001 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3000 pps
[  3] 6.0000-7.0000 sec  4.00 MBytes  33.6 Mbits/sec  2999/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0009 sec  40.1 MBytes  33.6 Mbits/sec  30005/0     3000 pps
[  3] Sent 30005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.3893 sec  7.64 MBytes  6.17 Mbits/sec   2.070 ms 24283/30007 (81%)

4.2 第二次测试

鉴于第一次测试的网络拓扑问题，现在只用一个4G LTE链路：因此链路独享，功能单一，不会有太多的竞争关系。【网络拓扑B】调整如下：

在这里插入图片描述

4.2.1 测试数据

$ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1426 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 51044 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3002 pps
[  3] 1.0000-2.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 2.0000-3.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 3.0000-4.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3001 pps
[  3] 4.0000-5.0000 sec  4.00 MBytes  33.6 Mbits/sec  2999/0     2999 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0009 sec  40.1 MBytes  33.6 Mbits/sec  30005/0     3000 pps
[  3] Sent 30005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.2656 sec  37.5 MBytes  30.7 Mbits/sec   0.268 ms 1890/30004 (6.3%)

注：更多测试数据供参考。

daniel@rpanion:~ $ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1510 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 43161 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3002 pps
[  3] 1.0000-2.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 2.0000-3.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3001 pps
[  3] 3.0000-4.0000 sec  4.00 MBytes  33.6 Mbits/sec  2999/0     2999 pps
[  3] 4.0000-5.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0009 sec  40.1 MBytes  33.6 Mbits/sec  30005/0     3000 pps
[  3] Sent 30005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0739 sec  39.7 MBytes  33.0 Mbits/sec   0.191 ms  278/30004 (0.93%)
daniel@rpanion:~ $ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1516 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 59910 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3002 pps
[  3] 1.0000-2.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 2.0000-3.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 3.0000-4.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 4.0000-5.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0008 sec  40.1 MBytes  33.6 Mbits/sec  30005/0     3000 pps
[  3] Sent 30005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.2943 sec  36.7 MBytes  29.9 Mbits/sec   0.462 ms 2551/30004 (8.5%)
daniel@rpanion:~ $ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1520 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 40583 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3001 pps
[  3] 1.0000-2.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 2.0000-3.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 3.0000-4.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 4.0000-5.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0022 sec  40.1 MBytes  33.6 Mbits/sec  30009/0     3000 pps
[  3] Sent 30009 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0383 sec  38.3 MBytes  32.0 Mbits/sec   0.262 ms 1311/30008 (4.4%)
daniel@rpanion:~ $ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1524 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 47580 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  3.96 MBytes  33.2 Mbits/sec  2967/0     3002 pps
[  3] 1.0000-2.0000 sec  4.00 MBytes  33.6 Mbits/sec  2997/0     3000 pps
[  3] 2.0000-3.0000 sec  4.03 MBytes  33.8 Mbits/sec  3015/0     2979 pps
[  3] 3.0000-4.0000 sec  4.03 MBytes  33.8 Mbits/sec  3016/0     3014 pps
[  3] 4.0000-5.0000 sec  3.98 MBytes  33.4 Mbits/sec  2982/0     3007 pps
[  3] 5.0000-6.0000 sec  4.04 MBytes  33.9 Mbits/sec  3024/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0009 sec  40.1 MBytes  33.6 Mbits/sec  30005/0     3000 pps
[  3] Sent 30005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0151 sec  39.7 MBytes  33.3 Mbits/sec   0.302 ms  235/30004 (0.78%)
daniel@rpanion:~ $ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1527 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 44434 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3001 pps
[  3] 1.0000-2.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 2.0000-3.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 3.0000-4.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 4.0000-5.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0009 sec  40.1 MBytes  33.6 Mbits/sec  30005/0     3000 pps
[  3] Sent 30005 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.0227 sec  40.1 MBytes  33.5 Mbits/sec   0.474 ms    0/30004 (0%)

4.2.2 数据分析

根据提供的iperf数据，我们可以得到以下分析：

  1. 带宽：
    平均带宽为33.6 Mbits/sec，这是UDP流量在网络上的平均传输速率。

  2. 丢包率：
    总共发送了30005个数据包，其中有1890个数据包丢失。
    丢包率为6.3%。这意味着有6.3%的数据包未能成功到达目的地。这可能是由于网络拥塞、丢包或其他网络问题引起的。

  3. Jitter：
    Jitter指的是数据包传输之间的时延变化。在本例中，Jitter为0.268毫秒。Jitter越小，表示数据包传输的稳定性越高。

  4. PPS（每秒数据包数）：
    平均每秒传输了3000个数据包。这是一个可用于评估网络负载的指标。

综合来看，虽然仍存在6.3%的丢包率，实际情况不可能长时间高压力，视频码流也有FEC等纠错机制。相对于第一次测试情况，相对来说该网络链路环境更为理想，也更加符合实际使用情况。

4.2.3 网络延迟分析

通过ping命令，iperf(Linux端)和QGC(Windows端)，分析网络延时：

  • iperf(Linux端)：平均3.35ms
64 bytes from 172.24.161.33: icmp_seq=1 ttl=64 time=3.07 ms
64 bytes from 172.24.161.33: icmp_seq=2 ttl=64 time=3.14 ms
64 bytes from 172.24.161.33: icmp_seq=3 ttl=64 time=3.83 ms
64 bytes from 172.24.161.33: icmp_seq=4 ttl=64 time=3.35 ms
  • QGC(Windows端)：平均7.75ms
Reply from 172.24.161.33: bytes=32 time=7ms TTL=64
Reply from 172.24.161.33: bytes=32 time=3ms TTL=64
Reply from 172.24.161.33: bytes=32 time=12ms TTL=64
Reply from 172.24.161.33: bytes=32 time=9ms TTL=64

4.2.4 视频效果

实测效果： ~ 245 ms 时延；？？？貌似VPN没啥时延啊？呵呵，后面说，卖个关子。
在这里插入图片描述

Rpanion OV5647 ZeroTier 网络拓扑B 性能实测

4.3 第三次测试

使用更加贴近实际场景，两个4G LTE独享带宽【网络拓扑C】。

在这里插入图片描述

4.3.1 测试数据

$ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 860 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 36516 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3002/0     3002 pps
[  3] 1.0000-2.0000 sec  4.00 MBytes  33.6 Mbits/sec  2999/0     3000 pps
[  3] 2.0000-3.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 3.0000-4.0000 sec  4.00 MBytes  33.6 Mbits/sec  2999/0     3000 pps
[  3] 4.0000-5.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3000 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     2999 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3001 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3001 pps
[  3] 0.0000-10.0015 sec  40.1 MBytes  33.6 Mbits/sec  30007/0     3000 pps
[  3] Sent 30007 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.3614 sec  37.5 MBytes  30.4 Mbits/sec   0.469 ms 1882/30006 (6.3%)
[  3] 0.0000-10.3614 sec  2921 datagrams received out-of-order

注：更多测试数据供参考。

$ iperf -b 3000pps -u -e -i 1 -l 1400 -c 172.24.42.46
------------------------------------------------------------
Client connecting to 172.24.42.46, UDP port 5001 with pid 1484 (1 flows)
Write buffer size: 1.37 KByte
UDP buffer size:  208 KByte (default)
------------------------------------------------------------
[  3] local 172.24.161.33%zt44xhvvrc port 39651 connected with 172.24.42.46 port 5001
[ ID] Interval            Transfer     Bandwidth      Write/Err  PPS
[  3] 0.0000-1.0000 sec  4.01 MBytes  33.6 Mbits/sec  3001/0     3002 pps
[  3] 1.0000-2.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 2.0000-3.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 3.0000-4.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 4.0000-5.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 5.0000-6.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 6.0000-7.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 7.0000-8.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 8.0000-9.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 9.0000-10.0000 sec  4.01 MBytes  33.6 Mbits/sec  3000/0     3000 pps
[  3] 0.0000-10.0005 sec  40.1 MBytes  33.6 Mbits/sec  30004/0     3000 pps
[  3] Sent 30004 datagrams
[  3] Server Report:
[ ID] Interval       Transfer     Bandwidth        Jitter   Lost/Total Datagrams
[  3] 0.0000-10.1356 sec  36.8 MBytes  30.4 Mbits/sec   0.174 ms 2446/30003 (8.2%)

4.3.2 数据分析

  1. 测试参数：
    使用了以下参数进行测试：带宽设置为3000pps、使用UDP协议、启用错误报告、设置报告间隔为1秒、每个数据包大小为1400字节，连接到IP地址为172.24.42.46的服务器。

  2. 客户端信息：
    客户端IP地址为172.24.161.33，端口36516，连接到服务器IP地址为172.24.42.46，端口5001。

  3. 传输数据：
    在每个1秒的时间间隔内，传输了大约4.01兆字节的数据。
    带宽在每秒都维持在约33.6兆位/秒。
    平均每秒发送的数据包数（PPS）为3000左右。

  4. UDP错误：
    未发现UDP错误。

  5. 服务器报告：
    在10.36秒的测试期间，总共传输了37.5兆字节的数据。
    平均带宽为30.4兆位/秒。
    报告的抖动（jitter）为0.469毫秒。
    6.3%的数据包丢失率，共丢失1882个数据包。
    有2921个数据包收到时是乱序的。

综上所述，该iperf测试表明UDP连接在设定的条件下运行良好，但存在一定程度的数据包丢失和乱序。

4.3.3 网络延迟分析

通过ping命令，iperf(Linux端)和QGC(Windows端)，分析网络延时：

  • iperf(Linux端)：平均607.5ms
64 bytes from 172.24.161.33: icmp_seq=1 ttl=64 time=668 ms
64 bytes from 172.24.161.33: icmp_seq=2 ttl=64 time=583 ms
64 bytes from 172.24.161.33: icmp_seq=4 ttl=64 time=565 ms
64 bytes from 172.24.161.33: icmp_seq=5 ttl=64 time=614 ms
  • QGC(Windows端)：平均822.25ms
Reply from 172.24.161.33: bytes=32 time=825ms TTL=64
Reply from 172.24.161.33: bytes=32 time=854ms TTL=64
Reply from 172.24.161.33: bytes=32 time=801ms TTL=64
Reply from 172.24.161.33: bytes=32 time=809ms TTL=64

4.3.4 视频效果

实测效果： ~ 569 ms 时延； Linux端607.5/2 = 303ms, 569 - 303 = 266 ms左右。

在这里插入图片描述

Rpanion OV5647 ZeroTier 网络拓扑C 性能实测

5. 总结

综上所述：

  1. 【网络拓扑A】~ 200 ms, 参考：《ArduPilot开源飞控之lida2003套机+伴机电脑首飞》
  2. 【网络拓扑B】~ 245 ms
  3. 【网络拓扑C】~ 569 ms
  4. 局域网点对点性能最好，直接就是Rpanion+Rpi3B+ 200ms时延。
  5. 统一WLAN出口，VPN仍然能够很好的优化，与局域网性能相当。
  6. 实际不同发射/接受链路网络，若VPN不做好优化，时延会很显著。

实际使用场景，需要看链路情况，若要进行商业部署，必须做好优化，或者自建网络(VPN/P2P等等)来控制好链路时延问题。

Ardupilot + Rpi3B+ + OV5647 + 4G LTE Copter

6. 参考资料

【1】zerotier - Securely connect any device, anywhere.

7. ZeroTier优化办法 - Moon节点

7.1 服务端配置

  • Step1：安装zerotier-one
# curl -s https://install.zerotier.com/ | sudo bash
  • Step2：加入自己的网络
# zerotier-cli join <Network ID>
  • Step3：生成moon.json文件
# cd  /var/lib/zerotier-one
# zerotier-idtool initmoon identity.public > moon.json
  • Step4：修改moon.json文件 //服务器，打开安全组，开放9993端口，采用UDP协议
# vi moon.json  //字段中修改：“stableEndpoints”: [“服务器的ip/9993”]
  • Step5：生成签名文件 //生成一个000000xxxxxxxxx.moon的文件
# zerotier-idtool genmoon moon.json
  • Step6：新建自己的moon节点配置
# mkdir moons.d
# mv 000000xxxxxxxxx.moon moons.d
# service zerotier-one restart  //之后重启服务器端B的Zerotier

7.2 客户端配置

  • Step1：下载配置文件
# scp usrname@ServerIP:/var/lib/zerotier-one/moons.d/000000xxxxxxxxx.moon .
  • Step2：前往zerotier安装目录 //window一般在 C:\ProgramData\ZeroTier\One
  • Step3：新建ZeroTier\One\moons.d目录，并复制00000xxxx.moon
  • Step4：重启windows服务
    在这里插入图片描述- Step5：查看moon服务器 //确认服务器(IP)和节点已经在列表中，表示成功
# zerotier-cli listpeers
  • Step6：查看ping延迟 //网络跳转越少，路线越短，性能越好。国内典型值在20ms左右。

在这里插入图片描述

8. DJI RC系统性能

DJI RC Pro features O3+ video transmission technology, capable of sending a 1080p/60fps live feed from up to 15 km away and latency as low as 120 ms.

在这里插入图片描述

本文来自互联网用户投稿，该文观点仅代表作者本人，不代表本站立场。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。如若转载，请注明出处：http://www.coloradmin.cn/o/1663017.html

如若内容造成侵权/违法违规/事实不符，请联系多彩编程网进行投诉反馈，一经查实，立即删除！

相关文章

霍金《时间简史 A Brief History of Time》书后索引（E--H）

霍金《时间简史 A Brief History of Time》书后索引（E--H）

A–D部分见&#xff1a;霍金《时间简史 A Brief History of Time》书后索引&#xff08;A–D&#xff09; 图源&#xff1a;Wikipedia INDEX E Earth: circumference, motion, shape Eclipses Eddington, Arthur Einstein, Albert: biography, see also Relativity; Special…
阅读更多...
解决数据丢失烦恼，Tenorshare 4DDiG 数据恢复工具助您一键找回珍贵文件

解决数据丢失烦恼，Tenorshare 4DDiG 数据恢复工具助您一键找回珍贵文件

在数字化时代&#xff0c;我们的生活和工作几乎完全依赖于电脑和移动设备。然而&#xff0c;意外情况时常发生&#xff0c;误删除、格式化、系统崩溃等问题可能会导致重要数据丢失&#xff0c;给我们带来不便和困扰。如何有效地解决数据丢失问题&#xff1f;不用担心&#xff0…
阅读更多...
QT---day5，通信

QT---day5，通信

1、思维导图 2、TCp 服务器 #ifndef MYWIDGET_H #define MYWIDGET_H #include <QWidget> #include <QTcpServer> #include <QList> #include <QTcpSocket> #include <QMessageBox> #include <QDebug> #include <QTcpServer> QT_B…
阅读更多...
如何更好地使用Kafka? - 故障时解决

如何更好地使用Kafka? - 故障时解决

要确保Kafka在使用过程中的稳定性&#xff0c;需要从kafka在业务中的使用周期进行依次保障。主要可以分为&#xff1a;事先预防&#xff08;通过规范的使用、开发&#xff0c;预防问题产生&#xff09;、运行时监控&#xff08;保障集群稳定&#xff0c;出问题能及时发现&#…
阅读更多...
大文件传输的好帮手Libarchive：功能强大的开源归档文件处理库

大文件传输的好帮手Libarchive：功能强大的开源归档文件处理库

在数字化时代&#xff0c;文件的存储和传输对于企业的日常运作至关重要。但是&#xff0c;服务器中的压缩文件往往无法直接查看或预览&#xff0c;这给用户带来了不便。为了解决这一问题&#xff0c;在线解压功能的开发变得尤为重要。接下来&#xff0c;小编将介绍一个能够实现…
阅读更多...
【Web后端】Tomcat简介_安装_解决乱码_idea配置

【Web后端】Tomcat简介_安装_解决乱码_idea配置

1.1 简介 tomcat是在oracle公司的ISWDK(lavaServer Web DelevopmentKit)的基础上发展起来的一个优秀的开源的servlet容器tomcat使用java语言编写。运行稳定、可靠、效率高&#xff0c;可以和目前 主流web服务器一起工作(如IIS、Apache、 Nginx)tomcat是Apache软件基金会(Apach…
阅读更多...
初识指针（4）＜C语言＞

初识指针（4）＜C语言＞

前言 前面的文章&#xff0c;已经对指针的基础概念以及运用有了初步了解&#xff0c;我们可以进一步探究指针比较深入的知识&#xff0c;下文将主要介绍&#xff1a;使用指针数组模拟二维数组、字符指针变量、数组指针、二维数组传参的本质、函数指针、typedef关键字等。 目录…
阅读更多...
计算机网络课设---校园组网

计算机网络课设---校园组网

需要word与.pkt文件的添加微信，备注"计网课设"，搜索：_Z-Nuyoah 一、设计的目的和任务 通过课程设计，使学生理论联系实际，在实践中进一步了解计算机网络体系结构，深入理解TCP/IP参考模型，掌握各种网络工程技术和网络规划与设计，初步掌握高速局域网技术、广域…
阅读更多...
成为计算机视觉（CV）需要掌握哪些技术知识（综述）

成为计算机视觉（CV）需要掌握哪些技术知识（综述）

在CV领域&#xff0c;深度学习和机器学习技术发挥着至关重要的作用&#xff0c;它们为图像识别、目标检测、图像分割等任务提供了强大的工具和方法。本文将综述CV中需要学习的深度学习和机器学习技术。 一、深度学习技术 卷积神经网络&#xff08;Convolutional Neural Netwo…
阅读更多...
PHP 提取数组中的特定的值

PHP 提取数组中的特定的值

需求&#xff1a; 前端展示&#xff1a; &#xff08;1&#xff09;之前的页面&#xff1a; &#xff08;2&#xff09;修改后的页面&#xff1a; 之前接口返回的数据 &#xff1a; 解决办法&#xff1a;提取tags 中的 ’约 的数组 添加到一个新的数组中去 1&#xff1a;一开…
阅读更多...
Unity值类型和引用类型

Unity值类型和引用类型

我们都知道C#编程语言中&#xff0c;数据类型被分为了两种&#xff1a; 值类型引用类型 那么什么是值类型&#xff1f;什么是引用类型呢&#xff1f;它们的区别又是什么&#xff1f; 为了搞清楚这些问题&#xff0c;我们先列举一下我们开发中会碰到的值类型和引用类型。 常…
阅读更多...
Canvas绘制图片和区域（前端使用Canvas绘制图片，并在图片上绘制区域）

Canvas绘制图片和区域（前端使用Canvas绘制图片，并在图片上绘制区域）

简介&#xff1a;在Web开发中&#xff0c;有时候我们需要在图片上进行一些交互式操作&#xff0c;比如绘制区域、标记等。这种场景下&#xff0c;我们可以使用HTML5的<canvas>元素来实现。Canvas 是 HTML5 提供的一种图形绘制接口&#xff0c;可以通过 JavaScript 在网页…
阅读更多...
AI应用案例：供应链平台健康状况和发展趋势分析

AI应用案例：供应链平台健康状况和发展趋势分析

某供应链平台在2019年就遍布了中国320个城市&#xff0c;为2600多家企业提供超40万个品类的供应链服务。它是通过直供城市终端销售门店&#xff0c;甚至是消费者&#xff0c;最大限度保证品牌和终端的销售利益。 但是平台交易市值较大、涉及的行业较多&#xff0c;而且打破了传…
阅读更多...
linux grep命令搜索指定路径

linux grep命令搜索指定路径

在Linux开发的过程中grep这个搜索命令&#xff0c;是必不可少的存在。它可以快速的搜索出来我们需要的关键字所在的位置。 有助于我们快速分析定位问题。 下面&#xff0c;分享一个简单实用的小技巧。 原始grep 最终grep grep过滤掉二进制的文件 -I选项 结论 这样子是不…
阅读更多...
队列的实现（使用C语言）

队列的实现（使用C语言）

完整代码链接&#xff1a;DataStructure: 基本数据结构的实现。 (gitee.com) 目录 一、队列的概念&#xff1a; 二、队列的实现&#xff1a; 使用链表实现队列&#xff1a; 1.结构体设计&#xff1a; 2.初始化&#xff1a; 3.销毁&#xff1a; 4.入队&#xff1a; 5.…
阅读更多...
深入了解 Flask Request

深入了解 Flask Request

文章目录 获取请求数据获取请求信息文件上传总结 Flask 是一个轻量级的 Python Web 框架&#xff0c;其简洁的设计和灵活的扩展性使其成为了许多开发者的首选。在 Flask 中&#xff0c;处理 HTTP 请求是至关重要的&#xff0c;而 Flask 提供了丰富而强大的 request 对象来处理…
阅读更多...
【Linux网络编程】I/O多路转接之select

【Linux网络编程】I/O多路转接之select

select 1.初识select2.了解select基本概念和接口介绍3.select服务器4.select特点及优缺点总结 点赞&#x1f44d;&#x1f44d;收藏&#x1f31f;&#x1f31f;关注&#x1f496;&#x1f496; 你的支持是对我最大的鼓励&#xff0c;我们一起努力吧!&#x1f603;&#x1f603;…
阅读更多...
企业微信主体能不能修改?

企业微信主体能不能修改?

企业微信变更主体有什么作用&#xff1f;当我们的企业因为各种原因需要注销或已经注销&#xff0c;或者运营变更等情况&#xff0c;企业微信无法继续使用原主体继续使用时&#xff0c;可以申请企业主体变更&#xff0c;变更为新的主体。企业微信变更主体的条件有哪些&#xff1…
阅读更多...
ansible——INVENTORY主机清单

ansible——INVENTORY主机清单

一、Inventory主机清单 Inventory支持对主机进行分组&#xff0c;每个组内可以定义多个主机&#xff0c;每个主机都可以定义在任何一个或多个主机组内 二、Inventory主机清单部署 2.1 前期准备 systemctl stop firewalld setenforce 0 yum install epel-release -y yum install…
阅读更多...
Panasonic机器人维修｜松下机械手维修过程

Panasonic机器人维修｜松下机械手维修过程

在我们的科技日新月异的今天&#xff0c;松下机器人已经广泛应用于各个领域&#xff0c;发挥着越来越重要的作用。然而&#xff0c;这些Panasonic机械手维修过程也是一项重要且复杂的工作。 一、准备工作 在进行松下机器人维修前&#xff0c;需要充分了解机器人的构造和工作原理…
阅读更多...
推荐文章
最新文章

Copyright @ 2022~2023