CN104683773A - Video high-speed transmission method using unmanned aerial vehicle - Google Patents
Video high-speed transmission method using unmanned aerial vehicle Download PDFInfo
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- CN104683773A CN104683773A CN201510131681.XA CN201510131681A CN104683773A CN 104683773 A CN104683773 A CN 104683773A CN 201510131681 A CN201510131681 A CN 201510131681A CN 104683773 A CN104683773 A CN 104683773A
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Abstract
The invention provides a video high-speed transmission method using an unmanned aerial vehicle in order to enhance the data transmission performance of an image obtained by unmanned aerial vehicle monitoring and reduce power consumption as far as possible. The video high-speed transmission method comprises the following steps: collecting a video signal by the unmanned aerial vehicle and converting the simulation video signal into a digital video signal; 2, sending the digital video signal, and sending video correcting frames according to the content of the digital video signal, wherein the video correcting frames are frames directly extracted from the digital video signal. The video transmission efficiency of the unmanned aerial vehicle is improved, the problem of large power consumption caused by long-term transmission of common definition videos or high-definition videos is solved, the same monitoring image can be obtained by a remote monitoring terminal without excessively depending on the performance of a communication chip, and the popularization and application prospects are wide.
Description
Technical field
The present invention designs vision signal fast transport technical field, more specifically, relates to a kind of UAV Video high speed transmission method.
Background technology
Current low-cost unmanned drives an airplane, and is called for short: unmanned plane, the ISM band such as the multiplex 2.4GHz of its transmission of video carry out point-to-point transmission of video.Its basic skills utilizes be arranged on unmanned plane during flying device one or multiple stage analog video camera to carry out video image acquisition, then the vision signal collected is sent to the 2.4GHz analog video transmitter be arranged on unmanned plane during flying device by holding wire, is undertaken modulating by 2.4G transmitter and launch.And the omnidirectional GP antenna be arranged on land-based unmanned aerial vehicle (UAV) control station or after receiving the vision signal from aerial unmanned plane with the planar directional antenna from motion tracking, hand over to and carry out demodulation to 2.4GHz video receiver.
But unmanned plane monitors that the image data amount obtained is also increasing along with demand.For the unmanned plane that some monitor, the real-time of its transmission of video is difficult to obtain long stability guarantee.Even if the raising of unmanned plane flying power, this problem cannot be solved from the angle of the communication technology merely.
Summary of the invention
The present invention, in order to strengthen the data transmission performance of the image of monitoring unmanned acquisition and reduce power consumption as far as possible, provides a kind of UAV Video high speed transmission method, comprising:
(1) unmanned plane gathers vision signal, converts analog video signal to digital video signal;
(2) send digital video signal, and send video check and correction frame according to the content of digital video signal, described video check and correction frame is the frame directly extracted from digital video signal.
Further, described step (2) comprises further:
(2.1) framing is carried out to digital video signal;
(2.2) content deltas between each frame is calculated;
(2.3) content deltas is encoded;
(2.4) content deltas after coding is sent;
(2.5) video check and correction frame is sent according to described content deltas.
Further, described unmanned plane collection vision signal comprises: utilize true color DVR to gather vision signal.
Further, also comprise between described step (2.1) and step (2.2): gray proces is gone to image.
Further, described step (2.2) comprising:
A previous frame image is expressed as the R-matrix that gray value is formed by ();
B () obtains the change of the no-manned plane three-dimensional angle between former frame and present frame;
C () converts R-matrix according to the change of three-dimensional perspective;
D current frame image is expressed as the current matrix that gray value is formed by ();
E () compares current matrix and the R-matrix through converting, and using comparative result as content deltas.
Further, three-dimensional gyroscope is utilized described step (b) comprising to detect the change of three-dimensional perspective.
Further, described step (2.3) comprising: utilize H.264 coded system to encode.
Further, whenever described content deltas exceeds predetermined threshold, then frame step (2.1) obtained sends as video check and correction frame.
The invention has the beneficial effects as follows: the efficiency that improve UAV Video transmission, reduce the problem that power consumption that the common resolution video of long-term delivery or high-resolution video cause is excessive, and the performance relying on communication chip not too much just can make monitoring client at a distance obtain same monitoring image, has wide generalization and application prospect.
Accompanying drawing explanation
Fig. 1 shows the FB(flow block) according to UAV Video high speed transmission method of the present invention.
Embodiment
As shown in Figure 1, according to embodiments of the invention, UAV Video high speed transmission method comprises:
(1) unmanned plane utilizes true color DVR to gather video signal collective vision signal, converts analog video signal to digital video signal;
(2) send digital video signal, and send video check and correction frame according to the content of digital video signal, described video check and correction frame is the frame directly extracted from digital video signal.This video check and correction frame is the complete primitive frame without foregoing Differences Processing Procedure.
According to a preferred embodiment of the invention, described step (2) comprises further:
(2.1) framing is carried out to digital video signal; Gray proces is gone to image, thus the coloured image that collection is come becomes black and white image;
(2.2) calculate content deltas between each frame, this step (2.2) specifically comprises:
Owing to experienced by gray proces before this, the pixel of each two field picture just can only adopt gray value to represent, like this, all pixels of a two field picture just can be expressed as the matrix be made up of gray value.In this manner, pending N two field picture is expressed as the R-matrix that gray value is formed: the mode pixel of N frame being become gray value, for utilizing following algorithm, calculates the gray value of each pixel: Yi, j=0.279*Ri, j+0.595*Gi, j+0.126*Bi, j.Wherein (Ri, j, Gi, j, Bi, j) is the RGB color value of picture frame on the i-th row jth row, and Yi, j are the gray values in this pixel of being converted to.
Three-dimensional gyroscope is utilized to obtain the change of the no-manned plane three-dimensional angle between former frame and present frame; Three-dimensional gyroscope is captured in the value of angle change in the X-direction in unmanned plane during flying direction, Y direction and these three sub-directions of Z-direction.Correspond to video that unmanned plane collects and the gray value matrix corresponding to each frame, just can obtain the matrix that unmanned plane obtains after angle changing in space.According to other embodiments of the invention, if the angle of unmanned plane shooting is for the vertical view below it, then the change of its Z-direction run in flight course just can be left in the basket and disregard.Like this, when carrying out angular transformation according to gyroscope, only to convert X-direction and Y direction.It will be clear for those skilled in the art that choosing of this angle completely can adopt and change according to actual needs.During translation-angle, offset each gray value position in a matrix, the angle and distance of skew is made according to the change of described three-dimensional perspective.
Utilize the mode identical with process N two field picture, N+1 two field picture is expressed as the current matrix that gray value is formed.
Finally, relatively N+1 matrix and the N matrix through converting: by poor for the gray value of two corresponding for the same position in two matrixes pixels, and the difference this N+1 frame being made the gray value of each pixel obtained after difference is greater than the gray value of predetermined threshold value as content deltas.
Utilize H.264 coded system to be encoded by the gray value that the difference of above-mentioned gray value is greater than predetermined threshold value, then send the gray value after coding.
Finally, the difference calculating the gray value of each pixel above-mentioned is greater than the variance of pixel between the gray value and the gray value of N frame of this N+1 frame of predetermined threshold value, if this variance exceedes predetermined threshold, then sends video check and correction frame.
After monitoring client receives this video information in the distance, constantly copy the former frame of the frame of video be currently received and the gray value of the present frame received replaced the gray value copying relevant position in the frame of video obtained, thus obtaining the complete gray value of the current video frame received.Then, the frame of video of the matrix representative formed by this gray value is sent to video display unit and shows.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a UAV Video high speed transmission method, comprising:
(1) unmanned plane gathers vision signal, converts analog video signal to digital video signal;
(2) send digital video signal, and send video check and correction frame according to the content of digital video signal, described video check and correction frame is the frame directly extracted from digital video signal.
2. UAV Video high speed transmission method according to claim 1, is characterized in that, described step (2) comprises further:
(2.1) framing is carried out to digital video signal;
(2.2) content deltas between each frame is calculated;
(2.3) content deltas is encoded;
(2.4) content deltas after coding is sent;
(2.5) video check and correction frame is sent according to described content deltas.
3. UAV Video high speed transmission method according to claim 2, is characterized in that, described unmanned plane gathers vision signal and comprises: utilize true color DVR to gather vision signal.
4. UAV Video high speed transmission method according to claim 3, is characterized in that, also comprises: remove gray proces to image between described step (2.1) and step (2.2).
5. according to the UAV Video high speed transmission method of one of claim 2-4, it is characterized in that, described step (2.2) comprising:
A previous frame image is expressed as the R-matrix that gray value is formed by ();
B () obtains the change of the no-manned plane three-dimensional angle between former frame and present frame;
C () converts R-matrix according to the change of three-dimensional perspective;
D current frame image is expressed as the current matrix that gray value is formed by ();
E () compares current matrix and the R-matrix through converting, and using comparative result as content deltas.
6. UAV Video high speed transmission method according to claim 5, is characterized in that, utilizes described step (b) comprising three-dimensional gyroscope to detect the change of three-dimensional perspective.
7. according to the UAV Video high speed transmission method of one of claim 2-4, it is characterized in that, described step (2.3) comprising: utilize H.264 coded system to encode.
8. according to the UAV Video high speed transmission method of one of claim 2-4, it is characterized in that, whenever described content deltas exceeds predetermined threshold, then frame step (2.1) obtained sends as video check and correction frame.
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Cited By (3)
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| CN105187723A (en) * | 2015-09-17 | 2015-12-23 | 深圳市十方联智科技有限公司 | Shooting processing method for unmanned aerial vehicle |
| CN109040840A (en) * | 2018-09-20 | 2018-12-18 | 深圳市道通智能航空技术有限公司 | Image transfer method, device, image transmitting terminal and aircraft image transmission system |
| CN109248378A (en) * | 2018-09-09 | 2019-01-22 | 深圳硅基仿生科技有限公司 | Video process apparatus, method and the retina stimulator of retina stimulator |
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