CN100372267C - Camera shooting and image transmission system for micro aircraft - Google Patents
Camera shooting and image transmission system for micro aircraft Download PDFInfo
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- CN100372267C CN100372267C CNB2004100034485A CN200410003448A CN100372267C CN 100372267 C CN100372267 C CN 100372267C CN B2004100034485 A CNB2004100034485 A CN B2004100034485A CN 200410003448 A CN200410003448 A CN 200410003448A CN 100372267 C CN100372267 C CN 100372267C
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Abstract
The invention relates to a micro-power consumption image transmission system for a micro aircraft, which comprises the following steps of firstly, shooting a ground image by adopting a micro camera unit, and preprocessing an image signal; amplifying the processed signal and adding brightness modulation; the amplified signal is subjected to analog modulation, and a narrow-band and low-level direct modulation mode is adopted, so that high energy conversion efficiency is realized under the condition of ensuring modulation linearity and image distortion; then the radiation is carried out in the form of electromagnetic wave after power amplification; receiving a video signal transmitted by an aircraft by using a high-gain antenna; then, amplifying the weak signal with low noise; demodulating the amplified signal; and finally sending the video signal to ground processing software for displaying, storing and processing. The invention can realize the reconnaissance task of the micro aircraft and has the advantages of low quality, small volume, stable and reliable performance, low cost, basically no delay of images and the like.
Description
Technical Field
The invention belongs to a camera shooting and image transmission system for an aircraft in the technical field of miniature aircrafts, and particularly relates to a camera shooting and image transmission system for a miniature aircraft.
Background
Micro Air Vehicles (MAV) is a very challenging research subject in the advanced scientific and technological field of the world at present, has small size, light weight and good concealment, and can be widely used for Aerial reconnaissance, target positioning and the like. The image transmission system is an important component of the payload of the micro aircraft, and transmits the ground image shot by the airborne micro camera back to the ground control station in an analog or digital transmission mode, so that the reconnaissance effect is achieved. The size and weight limitations of micro-aircraft require a high level of integration of the onboard electronics; the limitation of energy requires that the electronic device has very low power consumption; but the coverage and the reliability of the micro-camera and the image transmission system must meet the reconnaissance mission requirements of the micro aircraft.
The wireless image transmission systems on the conventional reconnaissance aircraft are all designed for high-altitude reconnaissance photography. Typically equipped with a high resolution camera or infrared camera, a high power wireless communication system, and a high sensitivity ground control center. The main design and application of the miniature aircraft are single-soldier reconnaissance equipment, the general coverage range is less than several kilometers, the effective load is less than tens of grams, and the requirements of a common camera shooting and communication system cannot be met. The foreign shooting and image transmission system based on the miniature aircraft mostly adopts a digital mode, occupies a very large bandwidth, generally can only achieve the transmission rate of 3-4 frames per second, and cannot realize the transmission of continuous videos.
FIG. 1 is a block diagram of a camera and image transmission system thereof; as can be seen from fig. 1, the camera and image transmission system generally comprises an airborne part and a ground part;
video signals shot by the camera unit of the airborne part are modulated by the video transmitting unit and then changed into radio frequency signals to be transmitted by the transmitting antenna, the console of the ground part receives the radio frequency signals through the directional receiving antenna, the weak radio frequency signals are amplified by the low noise amplifier, and the console stores and displays videos after being demodulated by the satellite receiver.
The conventional wireless image transmission system has the following problems:
1. the working frequency point is generally at several hundred megahertz, belongs to the national regulatory frequency band, is easy to be interfered, and is likely to interfere the communication of other functional departments.
2. The general frequency modulation device principle can be divided into the following categories according to the difference between the carrier generation mode and the modulation mode: a) The common crystal oscillator generates low-frequency modulation waves, and the required working frequency is achieved after several stages of frequency multiplication, so that the advantages are that the frequency stability is high, harmonic interference and mirror frequency are easily generated by frequency multiplication, a high-performance filter circuit is required to be added, and the system complexity is increased; b) The oscillator formed by the high-frequency triode or the field effect transistor directly generates the required carrier, and an RC circuit is usually adopted as a resonator, so that the Q value is not high enough, and the frequency drift is easy to occur.
3. Most of common wireless image transmission devices are video conferences and television broadcasts, and the common wireless image transmission devices have superior indexes such as image quality, transmission distance and the like, but have larger volume and power consumption and cannot meet the requirements of MAVs.
Disclosure of Invention
The invention aims to provide a camera and image transmission system for a micro aircraft aiming at the requirements of the existing micro aircraft, realizes the reconnaissance task of the micro aircraft, and has the advantages of low quality, small volume, stable and reliable performance, low cost, basically no delay of images and the like.
The invention provides a micro camera and image transmission system for a micro aircraft, which comprises an airborne part and a ground part and is characterized in that,
the airborne part includes:
1) The voltage of the direct current power supply of the system is 5-12V;
2) A micro camera unit, as shown in fig. 2, which is composed of a camera sensor 1 (CMOS camera chip in fig. 2), a timing control circuit 2 and a function control circuit 3; the camera chip of the miniature camera unit completes the conversion from the optical signal to the electric signal; the power input end of the camera sensor 1 is connected with a direct current power supply of the system after being connected with a filter capacitor in parallel; the time sequence signal input end of the camera sensor is connected with a passive quartz crystal oscillator in parallel, the passive quartz crystal oscillator is connected with a resistor in parallel, and two ends of the passive quartz crystal oscillator are grounded through two filter capacitors respectively to form a time sequence control circuit 2; the function control end of the camera sensor is connected with high level or grounded through another resistor to form a function control circuit 3; the image signal input end of the camera sensor is connected with the impedance matching resistor and then outputs an analog image signal;
3) The video transmitting unit consists of an image preprocessing circuit, a modulating circuit and a radio frequency circuit; as shown in fig. 3, the image preprocessing circuit includes a pre-emphasis circuit 4 and a video amplification circuit 5, the video amplification circuit 5 employs an integrated operational amplifier 51 and a DC-DC conversion chip 52, a voltage input terminal of the DC-DC conversion chip 52 is connected in parallel with a first filter capacitor C15 and then connected to a DC power supply of the system, a polarity capacitor C12 is connected in series between a positive polarity terminal and a negative polarity terminal of the DC-DC conversion chip 52, and a voltage output terminal of the DC-DC conversion chip 52 is connected in parallel with a second filter capacitor C16 and then connected to a negative voltage input terminal of the integrated operational amplifier 51; the image signal from the miniature camera unit is processed by the pre-emphasis circuit 4, and then enters the inverting input terminal of the integrated operational amplifier 51 through a third filter capacitor C13 and a feedforward resistor R15, the non-inverting input terminal of the integrated operational amplifier 51 is grounded, the positive voltage input terminal of the integrated operational amplifier 51 is connected with the direct current power supply of the system through a fourth filter capacitor C11, the negative voltage input terminal of the operational amplifier 51 is connected with the output terminal of the DC-DC conversion chip 52, a feedback resistor R14 is connected in series between the signal output terminal and the non-inverting input terminal of the operational amplifier 51, and the signal output terminal outputs the processed image signal through a fourth filter capacitor C14;
as shown in fig. 4, the modulation circuit is composed of a three-point feedback oscillator 6 and a frequency-selective modulation circuit 7; the core element of the three-point feedback oscillator 6 is a microwave triode Q1, the collector of the microwave triode Q1 is connected with a power supply of the system through a resonant inductor and is connected with a capacitor C4 in parallel to be grounded, the base of the microwave triode Q1 is connected between two series resistors R2 and R3, and the other two ends of the series resistors are respectively connected with a direct current power supply of the system and are grounded; the base electrode of the microwave triode Q1 is also connected with a frequency selection modulation circuit through a resonant capacitor C2; the frequency-selecting modulation circuit mainly comprises a section of terminal short-circuit microstrip line M1 and a variable capacitance diode V1; one end of the terminal short circuit microstrip line M1 is connected with the resonant capacitor C2, and the other end is grounded; the connecting ends of the terminal short-circuit microstrip line M1 and the resonance capacitor C2 are respectively connected with the varactor V1 in parallel and grounded after being connected with the capacitor C1 in series, and are connected with the filter inductor L1 and the bias potentiometer R1 in series and then grounded; the two ends of the bias potentiometer are respectively connected with a direct current power supply and the ground of the system and are used for providing bias voltage for the variable capacitance diode V1 and connecting an image signal processed by the image preprocessing circuit of the video transmitting unit to a connection point of the filter inductor and the potentiometer; an emitter of the microwave triode Q1 is grounded in parallel with a feedback capacitor C3 through a resistor R4, and a modulated image frequency modulation signal is output through a first matching capacitor C5;
the radio frequency circuit consists of a power amplification chip 8 and a bias circuit 9, the input end of the power amplification chip 8 is connected with the image frequency modulation signal output end of the modulation circuit, the output end of the radio frequency circuit is respectively connected with a system direct current power supply through the series connection of a filter inductor L3 and a bias resistor R5, and is connected with a transmitting antenna through a second matching capacitor C6; the grounding end of the power amplification chip 8 is grounded;
4) A transmitting antenna;
the ground portion includes:
1) The receiving antenna consists of a reflecting surface and a spiral receiver; the reflecting surface is a circular metal plate, and a spiral receiver is supported at the circle center through a metal rod; the spiral receiver is a section of metal spiral rod, the bottom end of the rod is provided with a high-frequency joint, and a received signal is transmitted to the input end of the low-noise amplifier through the joint and the coaxial cable;
2) A low noise amplifier, as shown in fig. 5, which is composed of a metal shield case and an amplifying circuit 10; the two ends of the metal shielding box are respectively provided with a high-frequency joint, an amplifying circuit 10 is arranged in the metal shielding box, and the amplifying circuit 10 consists of a low-noise amplifying chip 101, a power supply chip 102 and a matching circuit 103; the input end of the power supply chip 101 is connected with the output end of the low-noise amplifying circuit 10, and is connected with a filter capacitor C104 in parallel; the output end of the power supply chip 102 is connected with the power supply input end of the amplification chip 101, and is connected with a filter network in parallel, wherein the filter network consists of 2 parallel capacitors C106 and C107, a series inductor L108 and a voltage stabilizing diode D109; the feedback end of the power supply chip is grounded; the signal input end of the low-noise amplification chip 101 is connected with the signal input end of the low-noise amplification circuit 10 through a matching capacitor C110 and a matching microstrip line section M111, and the signal output end of the low-noise amplification chip 101 is connected with the signal output end of the low-noise amplifier M113 through another matching capacitor C112 and another matching microstrip line section;
analog image signals generated by the miniature camera unit enter a signal input end of the image preprocessing circuit, then enter a connecting point of a filter inductor and a potentiometer in the modulation circuit through a signal output end of the image preprocessing circuit for modulation, a signal output end of the modulation circuit outputs modulated image frequency modulation signals to enter a signal input end of the radio frequency circuit, and amplified high-frequency signals enter a transmitting antenna through the signal output end of the radio frequency circuit and are radiated out; after receiving the image frequency modulation signal by the receiving antenna, the signal enters the signal input end of the low noise amplifier through the high frequency joint of the receiving antenna and the coaxial cable, after the image frequency modulation signal output by the signal output end of the low noise amplifier enters the satellite receiver for demodulation and image processing, the satellite receiver outputs an analog video signal of PAL system to enter a video storage and display unit, and the display unit can be a television, a video recorder or a computer;
the camera chip is a CMOS camera sensor or a CCD camera sensor; the transmitting antenna is a metal rod; the voltage of the direct current power supply of the system is 5V.
The camera shooting and image transmission system for the micro aircraft can realize the reconnaissance task of the micro aircraft, and has the advantages of low quality, small volume, stable and reliable performance, low cost, basically no delay of images and the like.
Drawings
FIG. 1 is a schematic diagram of a camera and image transmission system for a micro aircraft;
FIG. 2 is a schematic diagram of a miniature camera unit;
FIG. 3 is a schematic diagram of an image preprocessor in the RF transmitting unit;
FIG. 4 is a schematic diagram of a modulation circuit and a radio frequency circuit in a radio frequency transmitting unit;
FIG. 5 is a schematic diagram of a low noise amplifier of the ground portion;
Detailed Description
The invention provides a micro camera and image transmission system applied to a micro aircraft, which is characterized in that firstly, an image sensor and a special micro lens are utilized to collect ground images, the continuous video signals are preprocessed and amplified, then, the processed image signals are subjected to analog modulation, and then, the signals are amplified by a power amplifying circuit and then are transmitted. The ground receiving end receives weak radio frequency signals by adopting a receiving antenna, amplifies the signals by a low noise amplifier, demodulates the amplified signals and transmits the demodulated signals to a computer for digital storage and processing.
1. Onboard miniature camera system
Y1 is a quartz crystal oscillator for providing a clock signal for the chip. R is 3 、R 4 、R 7 、r 9 、R 12 、R 13 The pull-up resistor is a 10K chip resistor. R is 16 The resistance value of 1M can be selected as the filter resistor. R is 18 The output resistor is matched, and according to different values of the resistance value of the rear load, a 100 omega patch resistor is selected. The output of pin 22 is the CVBS video signal. The circuit can be matched with a proper lens to form a micro camera.
2. Image preprocessor
The video signal output by the camera chip is amplified in a first stage, and the amplification factor can be adjusted by adjusting the input impedance, so that the brightness of the image is adjusted, wherein U1 is a direct current voltage conversion chip MAX1044 of Meixin company and is used for providing negative bias for the integrated operational amplifier, and the circuit amplification factor is R 15 And R 13 Co-determining, outputting the signal V out ＝R 13 /R 15 .Vm
3. Modulation and radio frequency processor
This is a core part of the onboard system. A three-point feedback oscillator is adopted to directly generate a 1.2GHz high-frequency carrier signal. C3 and R4 form a feedback part, V1 is a variable capacitance diode, and an input signal passes through a breakThe dew 2 is coupled into the tuning networks V1, L1, R1 and C1, and the capacitance of V1 can be changed by changing the bias voltage at the two ends of V1, so that the oscillation frequency of the system is changed, and the frequency modulation purpose is achieved. Triode Q is microwave bipolar triode 28C3354 of calendar company with characteristic frequency f T And the frequency of the signal is not less than 7GHz, and the signal has the characteristics of small noise coefficient and high available power gain. Power ofThe amplifying circuit adopts an integrated efficacy chip MSA-1105 produced by Agilent company, and an input and output matching circuit is integrated in the amplifying circuit, and the matching resistance is 50 omega 4.
3. Receiving antenna
According to the empirical formula of the characteristic parameters of the helical antenna, after a proper working frequency is selected, the optimal physical size is calculated by adopting a certain optimization algorithm and utilizing the empirical formula.
Calculating electric parameters of the spiral antenna:
1) Directivity coefficient:
2) Lobe width:
3) Input impedance:
4) Antenna gain
5. High frequency receiver
The low noise amplifier mainly functions to increase the gain and amplify the received weak signal, so as to achieve the purpose of increasing the overall working radius of the system, and therefore when selecting a chip of the low noise amplifier, the most important is the working frequency band, the gain and the like of the chip. Here we use MAX2640 with a typical gain of 15.1dB and a supply of 2.7-5.5V. The power supply voltage provided by the miniature receiver is 20V, so that the DC/DC chip MAX638 is selected as the power supply of the low-noise amplifier, and the output voltage of the power supply is 5V.
Claims (4)
1. A micro camera shooting and image transmission system for a micro aircraft comprises an airborne part and a ground part, and is characterized in that,
the airborne part includes:
1) A DC power supply of a system, the voltage value of which is 5-12V;
2) The micro camera shooting unit consists of a camera shooting sensor (1), a time sequence control circuit (2) and a function control circuit (3); the camera chip of the miniature camera unit completes the conversion from the optical signal to the electric signal; the power input end of the camera sensor (1) is connected with a direct current power supply of the system after being connected with a filter capacitor in parallel; the time sequence signal input end of the image pickup sensor is connected with a passive quartz crystal oscillator in parallel, the passive quartz crystal oscillator is connected with a resistor in parallel, and two ends of the passive quartz crystal oscillator are grounded through two filter capacitors respectively to form a time sequence control circuit (2); the function control end of the camera sensor is connected with high level or grounded through another resistor to form a function control circuit (3); the image signal input end of the camera sensor is connected with the impedance matching resistor and then outputs an analog image signal;
3) The video transmitting unit consists of an image preprocessing circuit, a modulating circuit and a radio frequency circuit; the image preprocessing circuit comprises a pre-emphasis circuit (4) and a video amplification circuit (5), the video amplification circuit (5) adopts an integrated operational amplifier (51) and a DC-DC conversion chip (52), the voltage input end of the DC-DC conversion chip (52) is connected with a first filter capacitor (C15) in parallel and then is connected with a direct current power supply of a system, a polarity capacitor (C12) is connected between the positive polarity end and the negative polarity end of the DC-DC conversion chip (52) in series, and the voltage output end of the DC-DC conversion chip (52) is connected with the negative voltage input end of the integrated operational amplifier (51) after being connected with a second filter capacitor (C16) in parallel and then is grounded; an image signal from a micro camera unit enters an inverting input end of the integrated operational amplifier (51) through a third filter capacitor (C13) and a feedforward resistor (R15) after being processed by a pre-emphasis circuit (4), the non-inverting input end of the integrated operational amplifier (51) is grounded, a positive voltage input end of the integrated operational amplifier (51) is connected with a direct current power supply of a system after passing through a fourth filter capacitor (C11), a negative voltage input end of the operational amplifier (51) is connected with an output end of a DC-DC conversion chip (52), a feedback resistor (R14) is connected between a signal output end and the non-inverting input end of the operational amplifier (51) in series, and the signal output end outputs the processed image signal after passing through a fourth filter capacitor (C14);
the modulation circuit consists of a three-point feedback oscillator (6) and a frequency-selecting modulation circuit (7); the core element of the three-point feedback oscillator (6) is a microwave triode (Q1), the collector electrode of the microwave triode (Q1) is connected with the power supply of the system through a resonant inductor and is simultaneously connected with a capacitor (C4) in parallel to be grounded, the base electrode of the microwave triode (Q1) is connected between two series resistors (R2 and R3), and the other two ends of the series resistors are respectively connected with the direct current power supply of the system and the ground; the base electrode of the microwave triode (Q1) is also connected with the frequency selection modulation circuit through a resonant capacitor (C2); the frequency-selecting modulation circuit mainly comprises a section of terminal short-circuit microstrip line (M1) and a variable capacitance diode (V1); one end of the terminal short circuit microstrip line (M1) is connected with the resonant capacitor (C2), and the other end of the terminal short circuit microstrip line is grounded; the connecting ends of the terminal short-circuit microstrip line (M1) and the resonant capacitor (C2) are connected with the capacitor (C1) in series and then are respectively connected with the variable capacitance diode (V1) in parallel for grounding, and are connected with the filtering inductor (L1) and the bias potentiometer (R1) in series for combination and then are grounded; the two ends of the bias potentiometer are respectively connected with a direct current power supply and the ground of the system and are used for providing bias voltage for the variable capacitance diode (V1) and connecting an image signal processed by the image preprocessing circuit of the video transmitting unit to a connection point of the filter inductor and the potentiometer; an emitter of the microwave triode (Q1) is grounded in parallel through a resistor (R4) and a feedback capacitor (C3), and a modulated image frequency modulation signal is output through a first matching capacitor (C5);
the radio frequency circuit consists of a power amplification chip (8) and a bias circuit (9), wherein the input end of the power amplification chip (8) is connected with the image frequency modulation signal output end of the modulation circuit, and the output end of the radio frequency circuit is connected with a system direct current power supply through the series connection of a filter inductor (L3) and a bias resistor (R5) and is connected with a transmitting antenna through a second matching capacitor (C6); the grounding end of the power amplification chip (8) is grounded;
4) A transmitting antenna;
the ground portion includes:
1) The receiving antenna consists of a reflecting surface and a spiral receiver; the reflecting surface is a circular metal plate, and a spiral receiver is supported at the center of a circle through a metal rod; the spiral receiver is a section of metal spiral rod, the bottom end of the rod is provided with a high-frequency joint, and a received signal is transmitted to the input end of the low-noise amplifier through the joint and the coaxial cable;
2) A low noise amplifier composed of a metal shield case and an amplifying circuit (10); the two ends of the metal shielding box are respectively provided with a high-frequency joint, an amplifying circuit (10) is arranged in the metal shielding box, and the amplifying circuit (10) consists of a low-noise amplifying chip (101), a power chip (102) and a matching circuit (103); the input end of the power supply chip (101) is connected with the output end of the low-noise amplifying circuit (10), and is connected with a filter capacitor (C104) in parallel; the output end of the power supply chip (102) is connected with the power supply input end of the amplification chip (101), and is connected with a filter network in parallel, wherein the filter network consists of 2 parallel capacitors, a series inductor and a voltage stabilizing diode; the feedback end of the power supply chip is grounded; the signal input end of the low-noise amplification chip (101) is connected with the signal input end of the low-noise amplification circuit (10) through a matching capacitor and a section of matching microstrip line, and the signal output end of the low-noise amplification chip (101) is connected with the signal output end of the low-noise amplifier through another matching capacitor and another section of matching microstrip line;
analog image signals generated by the miniature camera unit enter a signal input end of the image preprocessing circuit, then enter a connecting point of a filter inductor and a potentiometer in the modulation circuit through a signal output end of the image preprocessing circuit for modulation, a signal output end of the modulation circuit outputs modulated image frequency modulation signals to enter a signal input end of the radio frequency circuit, and amplified high-frequency signals enter a transmitting antenna through the signal output end of the radio frequency circuit and are radiated out; after the receiving antenna receives the image frequency modulation signal, the signal enters the signal input end of the low noise amplifier through the high frequency joint of the receiving antenna and the coaxial cable, after the image frequency modulation signal output by the signal output end of the low noise amplifier enters the satellite receiver for demodulation and image processing, the satellite receiver outputs the analog video signal of PAL system to enter the video storage and display unit, and the display unit is a television, a video recorder or a computer.
2. The micro camera and image transfer system for a micro aerial vehicle as claimed in claim 1, wherein the camera chip is a CMOS camera chip or a CCD camera chip.
3. A miniature camera and image transmission system for a miniature aircraft as set forth in claim 1, wherein said transmitting antenna is a metal rod.
4. A miniature camera and image transmission system for a micro aerial vehicle as claimed in claim 1, wherein the dc power supply of said system has a voltage of 5V.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100034485A CN100372267C (en) | 2004-03-15 | 2004-03-15 | Camera shooting and image transmission system for micro aircraft |
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| CNB2004100034485A CN100372267C (en) | 2004-03-15 | 2004-03-15 | Camera shooting and image transmission system for micro aircraft |
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| CN100372267C true CN100372267C (en) | 2008-02-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100992091B1 (en) | 2005-12-29 | 2010-11-04 | 비와이디 컴퍼니 리미티드 | Analog Image Signal Processing Circuit for CMOS Image Sensor |
| WO2007105663A1 (en) | 2006-03-15 | 2007-09-20 | Semiconductor Energy Laboratory Co., Ltd. | Electric power supply system and electric power supply system for motor vehicle |
| CN101378513B (en) * | 2007-08-28 | 2011-01-12 | 比亚迪股份有限公司 | Circuit for processing high gain analog signals |
| CN101226058B (en) * | 2008-01-31 | 2010-10-06 | 航天东方红卫星有限公司 | Method for implementing satellite side-sway automotive image live transmission |
| CN101662078B (en) * | 2009-07-30 | 2012-08-29 | 北京大泽科技有限公司 | Small shielding body electromagnetic shielding performance testing device, system and method therefor |
| CN102176161B (en) * | 2011-01-27 | 2013-01-16 | 华北电力大学 | Flight simulation system facing to power line polling |
| EP2581994B1 (en) * | 2011-10-13 | 2014-03-05 | Tyco Electronics Nederland B.V. | Contactless plug connector and contactless plug connector system |
| WO2018053853A1 (en) * | 2016-09-26 | 2018-03-29 | 深圳市大疆创新科技有限公司 | Control method, control device, electronic device, and aerial vehicle control system |
| CN111343437A (en) * | 2020-03-31 | 2020-06-26 | 西安博瑞集信电子科技有限公司 | Small-size lightweight wireless picture transmission system |
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| CN1282179A (en) * | 2000-09-01 | 2001-01-31 | 四川广汉三星铝业有限公司 | Wireless colour image transmission system |
| WO2002052233A2 (en) * | 2000-12-26 | 2002-07-04 | Honeywell International Inc. | Lightweight infrared camera |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1282179A (en) * | 2000-09-01 | 2001-01-31 | 四川广汉三星铝业有限公司 | Wireless colour image transmission system |
| WO2002052233A2 (en) * | 2000-12-26 | 2002-07-04 | Honeywell International Inc. | Lightweight infrared camera |
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