Ardupilot Rpanion 4GLTE 网络性能测试 - 国内中转

Ardupilot Rpanion 4GLTE 网络性能测试 - 国内中转

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

在这里插入图片描述

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。

在这里插入图片描述

$ 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

在这里插入图片描述

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！ ：）

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