CN103327335B - For the FPGA coded method of unmanned plane image transmission, system - Google Patents
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Abstract
The present invention relates to for the FPGA coded method of unmanned plane image transmission, system and control method, described system comprises: image input module, for the view data that real-time reception gathers, and the view data received is carried out the conversion of data interface protocol aspect；Wavelet transform process module, carries out wavelet transformation for the original image data after docking port protocol conversion, obtains wavelet coefficient；Spiht algorithm coding module, is used for adopting Bit-Plane Encoding, and wavelet coefficient carries out bit plane division, forms n bit plane of parallel scan, and each bit plane is processed, the binary code stream after being encoded.Described system also comprises: image encoder general control function module, for controlling the enable of each functional module of FPGA coding system and including the enable of input and output and the state migration procedure of middle data handling procedure；With system initialization functional module, for each functional module of FPGA coding system and internal memory, depositor are initialized, default setting is set.
Description
Technical field
The present invention relates to a kind of high-definition picture coded method being applied on unmanned plane, it is specifically related to how to carry out after a kind of unmanned plane gathers high-definition picture the strategy of high speed FPGA compressed encoding, namely the present invention relates to a kind of FPGA coding system for unmanned plane image transmission and control method.
Background technology
On unmanned aerial vehicle platform, as a rule, two ways generally can be taked to process the high-definition picture collected.A kind of is be stored directly in airborne mass storage, adopts downlink wireless channel to be sent to earth station in non real-time.When arriving in be measured or scouting overhead, region by plane when unmanned plane, need to open camera, controlled camera by computer to take pictures, the view data of record is stored in solid-state memory, when unmanned plane returns to ground, take off storage card by manual type, import in computer, carry out the processed offline on ground.Another way is by airborne image encoder, in real time the image collected is compressed coding, namely after the high-definition picture collected is entered compressed encoding by unmanned plane, deliver to transmitter, then pass through antenna transmission to earth station, earth station carries out corresponding data process and picture decoding, recovers original image.
For two kinds of technical schemes, the former shortcoming is comparatively obvious, due to image non real-time transmission, the multi view information at scene cannot be known in real time in ground flying Surveillance center, if in emergency relief occasion, needing image scene is processed in real time, and aircraft just can see image scene after needing within several hours, land, now making a response, it is late to be likely to again.Although and the latter's real-time is better, but requiring also higher for image compression encoding and transmission bandwidth etc., the technical difficulty that realizes also increases accordingly.Because of this latter apply in most unmanned plane image processing equipment and few.
Summary of the invention
It is an object of the invention to, for overcoming above-mentioned encoded question, the invention provides a kind of for the FPGA coded method of unmanned plane image transmission, system and control method.
To achieve these goals, the invention provides a kind of FPGA coding system for unmanned plane image transmission, it is characterised in that described system comprises:
Image input module, for the view data that real-time reception gathers, and carries out the conversion of data interface protocol aspect to the view data received；
Wavelet transform process module, carries out wavelet transformation for the original image data after docking port protocol conversion, obtains wavelet coefficient；With
Spiht algorithm coding module, is used for adopting Bit-Plane Encoding, and wavelet coefficient carries out bit plane division, forms n bit plane of parallel scan, and each bit plane is processed, the binary code stream after being encoded.
Said system also comprises:
Image encoder general control function module, for controlling the enable of each functional module of FPGA coding system and including the enable of input and output and the state migration procedure of middle data handling procedure；With
System initialization functional module, for each functional module of FPGA coding system and internal memory, depositor are initialized, arranges default setting.
Above-mentioned wavelet transform process module comprises further: two-dimensional wavelet transformation submodule and wavelet coefficient tissue submodule；
Wherein, the result of line translation, to its view data advanced person's every trade conversion of input, is stored in depositor by described two-dimensional wavelet transformation submodule；Then again the data in depositor are carried out rank transformation, duplicate rows parallel processing manner time-sharing multiplex row processor is adopted at this, making to achieve parallel processing between row processor and column processor, the LL component produced for every one-stage transfor-mation to enter next stage, is organized into the data pattern that two row are parallel；Needing to use two SRAM memory for first order wavelet transformation, second level wavelet transformation and third level wavelet transformation all need 1 piece of SRAM memory, and all the other wavelet transformations at different levels complete in RAM in FPGA sheet.
The tissue submodule of above-mentioned wavelet coefficient, is divided into 1024*1024 by original image by block, and the coefficient after wavelet transformation forms 256 wavelet tree altogether according to the genesis sequence of subband；And according to matrix of wavelet coefficients, produce storage table.
Each bit plane is performed following process by above-mentioned spiht algorithm coding module successively:
FC scanning and amplitude refinement；Descendants's set and the splitting operation of throwback set, identify bitmap including scanning FD and FL；Wherein, n < 18.
Above-mentioned spiht algorithm coding module comprises further:
Bit plane divides submodule, for wavelet coefficient carries out bit plane division, forms n bit plane of parallel scan；
First processes submodule, for scanning bit plane 1～bit plane n simultaneously, namely carries out FC scanning and the operation of amplitude refinement；After scanning through bit plane, carry out the splitting operation of descendants's set and throwback set, namely scan FD and FL for this bit plane and identify bitmap；The bit stream that each bit plane scanning FD and FL is formed blocks controller by FIFO and code stream and links together, and the bit count of this bit plane is delivered to code stream blocks controller；Blocked controller by code stream and carry out cutting according to code stream length；
Wherein, n < 18.
The external interface of the remaining element of the above-mentioned FPGA coding system for unmanned plane image transmission and unmanned plane image transmission includes: crystal oscillator clock interface, system reset interface, cpu bus interface, RS232 serial line interface, 2 sdram interfaces and 4 SRAM interface.
Meanwhile, the present invention also provides for a kind of FPGA coded method for unmanned plane image transmission, and described method comprises:
Step 101) for the initialized step of FPGA system；
Step 102) for receiving the step of the raw image data of input；
Step 103) for the raw image data received being carried out the step of two-dimensional wavelet transformation；
Step 104) for the sparse step carrying out wavelet coefficient tissue after two-dimensional wavelet transformation；
Step 105) for the coefficient after wavelet coefficient tissue carries out the step of SPIHT Bit-Plane Encoding, the Bit-Plane Encoding of this step refers to:
5. scan bit plane 1～bit plane n simultaneously, namely carry out FC scanning and the operation of amplitude refinement；
6. scan through after bit plane, carry out the splitting operation of descendants's set and throwback set, namely scan FD and FL for this bit plane and identify bitmap；
7. the bit stream that each bit plane scanning FD and FL is formed blocks controller by FIFO and code stream and links together, and the bit count of this bit plane is delivered to code stream blocks controller；
8. blocked controller by code stream and carry out cutting according to code stream length；
Step 106) carry out, for the view data after being scanned by bit plane, the step that code stream packing exports.
Finally, present invention also offers a kind of level one data method of flow control for image encoder FPGA, this level one data method of flow control is for controlling the FPGA coding system for unmanned plane image transmission stated, and described method is:
After system electrification, under the overall control of SYS_CON module,
Enable SYS_INIT module the system comprising internal memory and depositor is initialized；
Start DATA_IN module, input raw image data from USB interface and store internal memory；
Start DWT module, raw image data is carried out two-dimensional wavelet transformation, calls COEF_ORG simultaneously and wavelet coefficient is organized, and by temporary for wavelet coefficient result and SRAM；
Call SPIHT module, the wavelet coefficient obtained is carried out parallel bit plane coding；
Calling CODE_ORG, the bit stream data that bitplanes coding obtains carries out tissue counts truncation, is exported by USB interface.
Present invention achieves a kind of technology that on unmanned plane, the high-definition picture collected is carried out high speed compression coding, can only the image that collect be stored in airborne mass storage for major part unmanned plane in the past, in time returning to ground, the drawback that view data could be processed, here the image compression module adopted can pass ground back by transmitter after high resolution image data compressed encoding in real time, thus having played the features such as real-time that unmanned plane has on the scout is good, flexible, convenient more fully.It is more convenient for making unmanned plane serve in the industry-by-industry including national defence, assists the staff of relevant departments to obtain field data in time, make a response in time.
Compared with prior art, the present invention's it is a technical advantage that:
(1) on unmanned plane, adopt the high speed of Optimal improvements, high-fidelity Wavelets Image Coding Algorithms, and utilize realization on FPGA；Picture quality and speed are all good than existing unmanned plane image encoder；
(2) possess remote sensing images locally stored and real-time under pass integrated function, the airborne hard-disc storage of a road image, another road image adopts CCSDS agreement to be passed down in real time by transmitter；
The image compression encoding mentioned in the present invention take into account the importance of real-time Transmission high-definition picture, from improving the compression quality of image and obtaining the aspect such as compression speed faster and start with, strengthen the real-time of image acquisition and transmission, make earth station's data treatment people can make emergency response in time according to result, as for the condition of a disaster, chaos caused by war etc. are reply at once, thus the drawback that the view data avoided the occurrence of is lost or could be obtained afterwards, ensure that unmanned plane is maked an inspection tour, being timely completed of the tasks such as scouting and mapping, so as to give full play to due effect, really make important contribution for national product and Defence business.For reaching the target of above-mentioned high speed, high-fidelity transfer image, the present invention adopts the programmable Model Design image encoder of FPGA.When needs adopt New Image encryption algorithm, only need to rewrite the corresponding configuration code of FPGA without changing hardware, therefore which possesses good versatility and motility.The performance and reliability obtained due to FPGA pattern and special chip are closely, it is simultaneously adapted to product up-gradation and reduces hardware cost, on the basis of tradition unmanned plane Image Acquisition and transmission system, increase new FPGA mode image compression module, can when system architecture be constant, promote unmanned plane wireless image transmission system work efficiency, have hardware reconfiguration, advantage of lower cost and performance indications are significantly high.The present invention adopts parallel Wavelet Transformation Algorithm structure；Adopting significant coefficient FC, descendants important set FD, the mark bit map that throwback important set FL is formed substitutes the list structure of former algorithm；Adopt n(n < 18) individual bit plane parallel algorithm substitute former algorithm serial bit plane coding operation.
Accompanying drawing explanation
Fig. 1 be the present invention based on high speed, high-resolution unmanned plane image transmission module frame chart；
Fig. 2 is the image compression encoding module totality structured flowchart of the present invention；
Fig. 3 is the level one data flow graph of image encoder FPGA provided by the invention；
Fig. 4 is the hardware model of the two-dimensional wavelet transformation that the present invention adopts；
Fig. 5 is the hardware model of wavelet coefficient tissue provided by the invention；
Fig. 6 is that bit plane parallel encoding module provided by the invention realizes schematic diagram；
Fig. 7 is onboard image coder structure block diagram provided by the invention；
Fig. 8 is the internal interface schematic diagram of image encoder FPGA provided by the invention.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the invention will be further described.
The application number " 201210167088.7 " that the unmanned plane image transmission related to of the present invention is submitted to specific reference to the present inventor, denomination of invention is the embedded load device of a kind of unmanned plane wireless image transmission recorded in the patent application of " the unmanned plane load device of high-resolution real-time radio image transmission function ", this load device obtains at traditional wireless image or increases high speed image compression hardware module on figure biography device basic, employing microwave carries out data transmission, improve the performance of number transmission transmitter, increase its bandwidth, namely the functional module mainly included has: digital camera module, ARM computer module, high-capacity storage module, high speed FPGA image encoder module, number transmission transmitter module, power module of voltage regulation etc..
Computer module is divided into hardware components and software section, wherein hardware components includes CPU element and two parts of computer interface card unit, CPU element adopts the ARM11 module of MOTO as central control processor, plus associated interface logic, including the cpu bus interface of the LVDS interface of high speed image compression module and the RS485 serial line interface of unmanned plane autopilot and memory module and the LCD interface of man-machine interface and keyboard interface；Computer interface card unit includes remote measurement amount collecting unit, LDPC channel encoding unit and the LVDS high-speed interface unit with several transmission transmitter modules.The function of computer software part includes system initialization and data is managed.
The technical scheme of the SPIHT high speed image encryption algorithm adopting FPGA provided by the invention to realize in the above-mentioned unmanned plane wireless image transmission device stated, namely whole unmanned plane passes through digital camera, adopt LVDS high speed differential data interface, raw image data is collected in buffer storage, sequential is controlled by FPGA, the FPGA coding system for unmanned plane image transmission provided by the invention and method is utilized to carry out image compression encoding, view data one tunnel after coding stores in massive store FLASH, another road is through packing, several transmission transmitter module is delivered to after framing, earth station Fei Kong center is descended into by several transmission transmitters.
FPGA coding system for unmanned plane image transmission provided by the invention comprises: view data input block, wavelet transform unit, spiht algorithm coding unit and code stream output unit.The structured flowchart of described FPGA coding system is as shown in Figure 2.Wherein, the view data that image input module collects for real-time reception, and view data is completed the conversion of data interface protocol aspect, as completed the conversion etc. of high speed LVDS.The wavelet coefficient obtained, for the original image data collected is carried out wavelet transformation, is sent in next unit and is compressed coding by wavelet transform process module.Spiht algorithm coding module is the core cell of this invention, and it receives the wavelet coefficient of input, uses a kind of SPIHT innovatory algorithm without chained list, and coefficient is compressed coding, produces binary code stream.Code stream output module realizes the binary code stream after coding is carried out the operations such as interface protocol conversion, and output is in follow-up process equipment.
Additionally, the FPGA coding system for unmanned plane image transmission provided by the invention also comprises following 2 modules, and level one data flow graph corresponding to this encoder is as shown in Figure 3:
Image encoder general control function module, for controlling enable and the state migration procedure of all functional modules of FPGA coding system, including input and output and middle data handling procedure；With
System initialization functional module, for all functional modules and internal memory, the depositor etc. of FPGA coding system are carried out initialization operation, arranges default setting.
Above-mentioned wavelet transform process module comprises further: two-dimensional wavelet transformation submodule and wavelet coefficient tissue submodule, described spiht algorithm coding unit specifically adopts Bit-Plane Encoding module to realize its function.Described two-dimensional wavelet transformation submodule, is realized by a line translation and a rank transformation.Input picture advanced person's every trade is converted, the result of line translation is stored in depositor, then again the data in depositor is carried out rank transformation.Duplicate rows parallel processing manner is adopted at this, time-sharing multiplex row processor, make to achieve parallel processing between row processor and column processor, the parallel frequency of duplicate rows is up to more than 50M (being equivalent to the 100M of single file), the LL component produced for every one-stage transfor-mation to enter next stage, the data pattern that two row are parallel must be organized into, in order to module reuse.Needing to use two SRAM, the second level and the third level to need 1 piece for first order conversion, remaining can complete in ram in slice.Its hardware model is as shown in Figure 4.
The tissue submodule of described wavelet coefficient, is divided into 1024*1024 by original image by block, and the coefficient after wavelet transformation forms 256 wavelet tree (each tree is sized to 64*64) altogether according to the genesis sequence of subband；And according to matrix of wavelet coefficients, produce the storage table of following coefficient, as shown in Figure 5:
1, maximum table is formed, including descendants's maximum table, throwback maximum table；Calculate all coefficient maximum (dominant bit number of planes)；
2, three mark bitmaps are set: significant coefficient FC, descendants important set FD, throwback important set FL；
Described Bit-Plane Encoding, for realizing scanning encoding while bit plane, can carry out wavelet coefficient bit plane division, form n the bit plane (n < 18) of parallel scan, and the hardware model of Bit-Plane Encoding is as shown in Figure 6.Each bit plane is performed following process as follows:
1, FC scanning and amplitude refinement；
2, descendants's set and the splitting operation of throwback set, identify bitmap including scanning FD and FL；
The present invention relates to a kind of load device realizing the transmission of unmanned plane high-resolution real time imaging, it is possible to be applied to other occasion needing to carry out high speed large scale wireless image transmission.Below for certain unmanned plane high-resolution real-time image transmission system, apparatus of the present invention are described in further detail.
When this device normal operation, its volume is 260mm × 130mm × 60mm, and weight is 2Kg, and power consumption is 25W.Adopting several transmission transmitters of S-band, descending bit rate is up to 52Mbps, and the bit error rate is 10-8, output is 4.3W, and modulation system is QPSK, and image encoder adopts based on the SPIHT compression algorithm of FPGA, industrial digital collected by camera to image be gray level image, pixel precision is 8bit, totally 500 ten thousand pixel.When compression ratio is 16 times, and transfer rate is 50Mbps, frame frequency is 20 frames per second, and when compression ratio is 8 times, and transfer rate is 50Mbps, frame frequency is 10 frames per second, and when compression ratio is 4 times, frame frequency is 5 frames per second.
Designing requirement according to conventional onboard image coding processing unit, the regulative principles such as the function of present invention image compression unit, performance indications, interface specification, main components selection, complete the FPGA design to onboard image coding processing unit and realization, the FPGA of image coding unit is arranged on compression of images card, complete the task of picture coding, the work such as including system initialization (containing parameter is arranged), view data input and memory module, two-dimensional wavelet transformation, wavelet coefficient tissue module, bit plane scanning and code stream packing output.The population structure of unmanned plane image transmission is as it is shown in fig. 7, FPGA coding system of the present invention is as the image compression unit of unmanned plane image transmission in the figure.
The external interface of the FPGA coding system that the embodiment of the present invention provides includes: crystal oscillator clock interface, system reset interface, cpu bus interface, RS232 serial line interface, sdram interface (2), SRAM interface (4), we adopt VHDL hardware description language to carry out Design of Hardware Architecture, and its framework totally realized is as shown in Figure 8.
Camera image data is carried out Real Time Compression by image compression unit, and compress mode is 1/2/4/8/16 times of alterable compression ratio respectively.By the mode that parameter is arranged, the adjustment of compression multiple is notified that image compression unit, default work are 4 times of compression ratios by computer unit.
The real-time processing speed of image compression unit is 256Mbps.
The signal to noise ratio average out to 39dB of the image recovered, meets the ground application system requirement for picture quality.
The important technological parameters that small echo SPIHT hardware coder reaches is:
1. weight: 0.5kg
2. power consumption: 7W
3. clock frequency: 60MHz
4. image gray levels: 256
5. image real time transfer ability: 400Mbps；
Receiving terminal in Surveillance center of earth station, the signal received from antenna by radio-frequency module, demodulation and solves frame processing module, according to source bag form, the data solved is carried out a point two-way, namely a road is remote measurement amount and engineering parameter, and a road is compression of images bit stream data.By the server at ground monitoring center, remote measurement amount and engineering parameter, view data are carried out Data Analysis Services, data result is generated and unpacks report, and dependent image data is stored hard disk is available for subsequent playback and process, high-definition picture after decompression shows in real time in interface software, and it is stored in multimedia database, process for follow-up inquiry, inspection and printing etc..
It should be noted last that, above example is only in order to illustrate technical scheme and unrestricted.Although the present invention being described in detail with reference to embodiment, it will be understood by those within the art that, technical scheme being modified or equivalent replacement, without departure from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention.
Claims (4)
1. the FPGA coding system for unmanned plane image transmission, it is characterised in that described system comprises:
Image input module, for the view data that real-time reception gathers, and carries out data interface protocol conversion to the view data received；
Wavelet transform process module, carries out wavelet transformation for the original image data after docking port protocol conversion, obtains wavelet coefficient；With
Spiht algorithm coding module, is used for adopting Bit-Plane Encoding that wavelet coefficient carries out bit plane division, forms n bit plane of parallel scan, and each bit plane is processed, the binary code stream after being encoded；
Described wavelet transform process module comprises further: two-dimensional wavelet transformation submodule and wavelet coefficient tissue submodule；Wherein, the result of line translation, to its view data advanced person's every trade conversion of input, is stored in depositor by described two-dimensional wavelet transformation submodule；Then again the data in depositor are carried out rank transformation, duplicate rows parallel processing manner time-sharing multiplex row processor is adopted at this, making to achieve parallel processing between row processor and column processor, the LL component produced for every one-stage transfor-mation to enter next stage, is organized into the data pattern that two row are parallel；Needing to use two SRAM memory for first order wavelet transformation, second level wavelet transformation and third level wavelet transformation all need 1 piece of SRAM memory, and all the other wavelet transformations at different levels complete in RAM in FPGA sheet；The tissue submodule of described wavelet coefficient, is divided into 1024*1024 by original image by block, and the coefficient after wavelet transformation forms 256 wavelet tree altogether according to the genesis sequence of subband；And according to matrix of wavelet coefficients, produce storage table；
Described spiht algorithm coding module comprises further:
Bit plane divides submodule, for wavelet coefficient carries out bit plane division, forms n bit plane of parallel scan；First processes submodule, for scanning bit plane 1～bit plane n simultaneously, namely carries out FC scanning and the operation of amplitude refinement；After scanning through bit plane, carry out the splitting operation of descendants's set and throwback set, namely scan FD and FL for this bit plane and identify bitmap；The bit stream that each bit plane scanning FD and FL is formed blocks controller by FIFO and code stream and links together, and the bit count of this bit plane is delivered to code stream blocks controller；Blocked controller by code stream and carry out cutting according to code stream length；Wherein, n < 18；Each bit plane is performed following process by described spiht algorithm coding module successively: FC scanning and amplitude refinement；Descendants's set and the splitting operation of throwback set, identify bitmap including scanning FD and FL；Wherein, n < 18；FC represents that significant coefficient, FD represent descendants's important set, and FL represents throwback important set.
2. the FPGA coding system for unmanned plane image transmission according to claim 1, it is characterised in that described system also comprises:
Image encoder general control function module, for controlling the enable of each functional module of FPGA coding system and including the enable of input and output and the state migration procedure of middle data handling procedure；With
System initialization functional module, for each functional module of FPGA coding system and internal memory, depositor are initialized, arranges default setting.
3. the FPGA coding system for unmanned plane image transmission according to claim 1, it is characterized in that, the external interface of the remaining element of the described FPGA coding system for unmanned plane image transmission and unmanned plane image transmission includes: crystal oscillator clock interface, system reset interface, cpu bus interface, RS232 serial line interface, 2 sdram interfaces and 4 SRAM interface.
4., for a FPGA coded method for unmanned plane image transmission, described method comprises:
Step 101) for the initialized step of FPGA system；
Step 102) for receiving the step of the raw image data of input；
Step 103) for the raw image data received being carried out the step of two-dimensional wavelet transformation；
Step 104) for the coefficient after two-dimensional wavelet transformation being carried out the step of wavelet coefficient tissue；
Step 105) for the coefficient after wavelet coefficient tissue carries out the step of SPIHT Bit-Plane Encoding, the Bit-Plane Encoding of this step refers to:
1. scan bit plane 1～bit plane n simultaneously, namely carry out FC scanning and the operation of amplitude refinement；
2. scan through after bit plane, carry out the splitting operation of descendants's set and throwback set, namely scan FD and FL for this bit plane and identify bitmap；
3. the bit stream that each bit plane scanning FD and FL is formed blocks controller by FIFO and code stream and links together, and the bit count of this bit plane is delivered to code stream blocks controller；
4. blocked controller by code stream and carry out cutting according to code stream length；
Step 106) carry out, for the view data after being scanned by bit plane, the step that code stream packing exports；
In two-dimensional wavelet transformation step, input image data advanced person's every trade is converted, the result of line translation is stored in depositor；Then again the data in depositor are carried out rank transformation, duplicate rows parallel processing manner time-sharing multiplex row processor is adopted at this, making to achieve parallel processing between row processor and column processor, the LL component produced for every one-stage transfor-mation to enter next stage, is organized into the data pattern that two row are parallel；Needing to use two SRAM memory for first order wavelet transformation, second level wavelet transformation and third level wavelet transformation all need 1 piece of SRAM memory, and all the other wavelet transformations at different levels complete in RAM in FPGA sheet；The tissue submodule of wavelet coefficient, is divided into 1024*1024 by original image by block, and the coefficient after wavelet transformation forms 256 wavelet tree altogether according to the genesis sequence of subband；And according to matrix of wavelet coefficients, produce storage table；
Wherein, FC represents that significant coefficient, FD represent descendants's important set, and FL represents throwback important set.
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