CN107071357A - A kind of data processing method, airborne end, ground terminal and UAS - Google Patents
A kind of data processing method, airborne end, ground terminal and UAS Download PDFInfo
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- CN107071357A CN107071357A CN201710249529.0A CN201710249529A CN107071357A CN 107071357 A CN107071357 A CN 107071357A CN 201710249529 A CN201710249529 A CN 201710249529A CN 107071357 A CN107071357 A CN 107071357A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/42—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/46—Embedding additional information in the video signal during the compression process
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- Closed-Circuit Television Systems (AREA)
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Abstract
The invention discloses a kind of data processing method, airborne end, ground terminal and UAS, the classification includes：Obtain the current frame image that image capture module is collected in the airborne end；It is determined that telemetry corresponding with the current frame image；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, the first data are generated；First data are sent to ground terminal by the first channel.The above method that the present invention is provided, solves the presence of the low technical problem of the data reliability transmitted in UAS between the terminal of airborne end and ground in the prior art.
Description
Technical field
The present invention relates to electronic technology field, more particularly to a kind of data processing method, airborne end, ground terminal and nobody
Machine system.
Background technology
Unmanned plane have small volume, good concealment, zero injures and deaths, using limitation less, maneuverability, efficiency high the features such as, quilt
Increasing military power is paid attention to.UAS includes airborne end and ground terminal, the telemetry of airborne end collection
Send to ground terminal, the telemetry that the observing and controlling personnel at ground observing and controlling center can be gathered by UAS recognizes nothing
The situation in man-machine corresponding investigation region, and airborne end itself state and parameter, and then observing and controlling personnel can pass through ground
Terminal sends telecommand to airborne end, controls the information in airborne end collection correspondence investigation region, realizes the collection of information.
At present, unmanned plane is under subsonic cruise state, and because flying speed is very fast, disturbing factor is more, airborne end and ground terminal
Between the data reliability transmitted it is low.
The content of the invention
The embodiment of the present invention provides a kind of data processing method, airborne end, ground terminal and UAS, for solving
There is the low technical problem of the data reliability transmitted in UAS between the terminal of airborne end and ground in the prior art.
On the one hand the embodiment of the present invention provides a kind of data processing method, applied to the airborne end of UAS, bag
Include：
Obtain the current frame image that image capture module is collected in the airborne end；
It is determined that telemetry corresponding with the current frame image；
The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, the first data are generated；
First data are sent to ground terminal by the first channel.
It is optional described by the current frame image and telemetry progress multiple connection processing and anti-interference process, generation
First data, are specifically included：
Coded treatment is compressed respectively to the current frame image and the telemetry；
Current frame image after coded treatment and telemetry are subjected to multiple connection processing, the second data are generated；
Corresponding time sequence number is added in second data, the first data are generated.
Optionally, coded treatment is compressed respectively to the current frame image and the telemetry, specifically included：
Coding is compressed respectively to the current frame image and the telemetry, and adds corresponding error correcting code.
Optionally, multiple connection processing, generation second are carried out in the current frame image by after coded treatment and telemetry
After data, methods described also includes：Integrity detection is carried out to second data.
Optionally, it is described to send first data to ground terminal by the first channel, specifically include：
Signal corresponding to first data carries out power amplification processing, and the data after power amplification are sent to described
Ground terminal.
On the other hand the embodiment of the present invention provides a kind of data processing method, applied to the ground terminal of UAS,
Including：
The first data that airborne end is sent are received, wherein, first data are with resisting by the airborne end multiple connection processing
The current frame image and telemetry of the airborne end collection after interference processing；
First data are carried out with solution multiple connection processing and data convert to handle, obtain the current frame image with it is described distant
Survey data.
On the other hand the embodiment of the present invention provides a kind of data processing method, applied to UAS, including：
Airborne end obtains the current frame image that image capture module is collected；
The airborne end determines telemetry corresponding with the current frame image；
The current frame image and the telemetry are carried out multiple connection processing and anti-interference process, generation by the airborne end
First data；
The airborne end sends first data to ground terminal by the first channel；
The ground terminal receiver carries first data that end is sent；
The ground surface end carries out solution multiple connection processing to first data and handled with data convert, obtains the present frame figure
Picture and the telemetry.
On the other hand the embodiment of the present invention provides a kind of airborne end, including：
Image capture module, for gathering video image；
Telemetry module, for gathering telemetry；
Memory cell, for storing at least one program module；
At least one first processor, at least one described first processor is by obtaining and running at least one described journey
Sequence module, for obtaining the current frame image that image capture module is collected in the airborne end；It is determined that with the present frame figure
As corresponding telemetry；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, generation
First data；
First antenna module, for first data to be sent to ground terminal by the first channel.
Optionally, at least one described first processor includes：
Coding module, for being compressed coded treatment respectively to the current frame image and the telemetry；
Multiple connection module, for the current frame image after coded treatment and telemetry to be carried out into multiple connection processing, generation second
Data；
Tfi module, for adding corresponding time sequence number in second data, generates the first data.
Optionally, the coding module is additionally operable to：
Coding is compressed respectively to the current frame image and the telemetry, and adds corresponding error correcting code.
Optionally, at least one described first processor also includes：
Integrity detection module, for being carried out in the current frame image by after coded treatment and telemetry at multiple connection
After reason, the second data of generation, integrity detection is carried out to second data.
Optionally, the first antenna module includes：
Power amplifier module, for carrying out power amplification processing to the corresponding signal of first data；
First antenna, for the data after power amplification to be sent to the ground terminal.
Optionally, the first antenna is microstrip double frequency antenna.
On the other hand the embodiment of the present invention provides a kind of airborne end, including：
Second Anneta module, for receiving the first data that airborne end is sent, wherein, first data are by the machine
Carry the current frame image and telemetry of end multiple connection processing and the airborne end collection after anti-interference process；
Memory cell, for storing at least one program module；
At least one second processor, at least one described second processor is by obtaining and running at least one described journey
Sequence module, handles with data convert for first data to be carried out with solution multiple connection processing, obtains the current frame image and institute
State telemetry.
Optionally, second Anneta module includes：
First monopole antenna, for receiving the data that the airborne end is sent；
Second monopole antenna, for sending data to the airborne end.
On the other hand the embodiment of the present invention provides a kind of UAS, including：
Airborne end；The airborne end is used to obtain the current frame image that image capture module is collected；It is determined that working as with described
The corresponding telemetry of prior image frame；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference place
Reason, generates the first data；First data are sent to ground terminal by the first channel；
The ground terminal, the ground terminal is used to receive first data that airborne end is sent；To described first
Data carry out solution multiple connection processing and handled with data convert, obtain the current frame image and the telemetry.
Said one or multiple technical schemes in the embodiment of the present application, are at least imitated with following one or more technologies
Really：
1st, image capture module in the airborne end is obtained due in technical scheme in the embodiment of the present application, employing
The current frame image collected；It is determined that telemetry corresponding with the current frame image；By the current frame image with it is described
Telemetry carries out multiple connection processing and anti-interference process, generates the first data；First data are sent by the first channel
To the technological means of ground terminal.So, UAS airborne end gather video data each two field picture with it is right
The telemetry answered carries out multiple connection and anti-interference process, can effectively ensure the validity of the data of airborne end transmission, also,
Because video data and telemetry multiple connection are to all the way, channel resource can be effectively saved by a transmission.So,
It can effectively solve the presence of the low skill of the data reliability transmitted in UAS between the terminal of airborne end and ground in the prior art
Art problem.
2nd, due in technical scheme in the embodiment of the present application, employing to the current frame image and the remote measurement number
According to being compressed coding respectively, and add the technological means of corresponding error correcting code.So, data anti-interference in itself can be improved
Ability, effectively ensures the reliability of data.
3rd, due in technical scheme in the embodiment of the present application, employing to the current frame image and the remote measurement number
According to being compressed coded treatment respectively；Current frame image after coded treatment and telemetry are subjected to multiple connection processing, generation the
Two data；The technological means of corresponding time sequence number is added in second data.So, transmission can be effectively reduced
Real-time index in data volume, raising radio transmission, also, because data add time sequence number, can prevent in data
There is frame losing in transmitting procedure and cause error of transmission.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the present application or prior art, embodiment is retouched below
The accompanying drawing used required in stating is briefly described, it should be apparent that, drawings in the following description are only the one of the present invention
A little embodiments.
Fig. 1 be the embodiment of the present application one in be applied to airborne end data processing method flow chart；
Fig. 2 is the schematic diagram of UAS in the embodiment of the present application one；
Fig. 3 is airborne end theory diagram in the embodiment of the present application one；
Fig. 4 be the embodiment of the present application two in be applied to ground terminal data processing method flow chart；
Fig. 5 is ground terminal theory diagram in the embodiment of the present application two；
Fig. 6 be the embodiment of the present application three in be applied to UAS data processing method flow chart；
Fig. 7 is airborne end structure block diagram in the embodiment of the present application four；
Fig. 8 is ground terminal structured flowchart in the embodiment of the present application five.
Embodiment
The embodiment of the present invention provides a kind of data processing method, airborne end, ground terminal and UAS, for solving
There is the low technical problem of the data reliability transmitted in UAS between the terminal of airborne end and ground in the prior art.
To solve above-mentioned technical problem, the embodiment of the present invention provides a kind of data processing method, applied to unmanned plane system
The airborne end of system, general thought is as follows：
Obtain the current frame image that image capture module is collected in the airborne end；
It is determined that telemetry corresponding with the current frame image；
The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, the first data are generated；
First data are sent to ground terminal by the first channel.
Due in technical scheme in the embodiment of the present application, the video data gathered at the airborne end of UAS
Each two field picture carries out multiple connection and anti-interference process with corresponding telemetry, can effectively ensure the data of airborne end transmission
Validity, also, because video data and telemetry multiple connection are to all the way, can be effectively saved by a transmission
Channel resource.Thus it is possible to effectively solve to exist in the prior art the number transmitted in UAS between the terminal of airborne end and ground
According to the low technical problem of reliability.
Below in conjunction with the accompanying drawings to the main realization principle of the embodiment of the present application technical scheme, embodiment and its correspondingly
The beneficial effect that can be reached is explained in detail.
Embodiment one
Fig. 1 is refer to, the embodiment of the present invention provides a kind of data processing method, applied to the airborne end of UAS,
Including：
S101：Obtain the current frame image that image capture module is collected in the airborne end；
S102：It is determined that telemetry corresponding with the current frame image；
S103：The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, generation first
Data；
S104：First data are sent to ground terminal by the first channel.
Wherein, step S103 may include following steps in specific implementation process：
Coded treatment is compressed respectively to the current frame image and the telemetry；
Current frame image after coded treatment and telemetry are subjected to multiple connection processing, the second data are generated；
Corresponding time sequence number is added in second data, the first data are generated.
Wherein, coded treatment is compressed respectively to the current frame image and the telemetry, specifically included：To institute
State current frame image and be compressed coding respectively with the telemetry, and add corresponding error correcting code.
Carry out multiple connection processing in the current frame image by after coded treatment and telemetry, the second data of generation it
Afterwards, in addition to：Integrity detection is carried out to second data.
After the first data are generated, airborne end carries out power amplification processing to the corresponding signal of first data, by work(
Data after rate amplification are sent to the ground terminal.
It is airborne in UAS as shown in Figure 2, including airborne end and ground terminal specifically, in the present embodiment
End carries out data interaction, telemetry (including video data and the other remote measurements of the winged control unit collection at airborne end with ground surface end
Data) it can be sent by omnidirectional antenna to ground terminal, ground terminal can will receive telemetry in local display list
Member display sends it to user equipment.Similarly, ground terminal can be transmitted remote-control data and be used to control airborne end to airborne end
Flight or data acquisition.
Airborne end theory diagram between telemetry module and coding module by RS232 interfaces as shown in figure 3, connected.RS232
It is that the asynchronous transmission standard formulated by Electronic Industries Association (Electronic Industries Association, EIA) connects
Mouthful.Usual RS232 interfaces occur with 9 pins (DB-9) or with the kenel of 25 pins (DB-25).Above-mentioned telemetry module and
The distance between coding module is short, RS232 category single-ended signal transmission, is generally used for the communication within 20m, it, which has, uses circuit
Less, the characteristics of communications cost is low.Further, connected between above-mentioned coding module and processor by SPI interface.SPI
(Serial Peripheral Interface-- Serial Peripheral Interface (SPI)s) bus system is a kind of synchronous serial Peripheral Interface, it
Can be to be communicated in a serial fashion between various equipment to exchange information.SPI interface is synchronous serial-data transmission, in main device
Under the shift pulse of part, data step-by-step transmission is high-order preceding, and low level is full-duplex communication, data transmission bauds is fast, speed rear
Degree can reach several Mbps.With SPI interface transmitting video data efficiency high.Processor uses RS422 interfaces with configuration intercomputer
Connection, RS422 is poor transmission, strong antijamming capability, long transmission distance.
Airborne end gathers video image, telemetry module acquisition module when carrying out data acquisition by image capture module
Telemetry is gathered, such as：The winged control telemetry of flight course.Airborne end is in downlink link transmission video data and remote measurement
Data, receives link primary recipient ground remote control command information.Transmitting terminal uses comprehensive channel technology, the video counts after compression
It is transmitted according to a channel together with telemetry multiple connection, is shared.Specifically, image capture module collects present frame figure
As after, while the telemetry from serial ports reading now, processor is controlled current frame image and now corresponding telemetry
It is compressed coding, then by its multiple connection is a circuit-switched data, after the first data are generated, airborne end is by the corresponding signal of the first data
Carry out power amplification after, sent by T/R, by power amplification, can transmitting, improve operating distance, can keep away again
Exempt from electromagnetic interference.
In order to further improve the antijamming capability of data, coding can be compressed to current frame image and telemetry
When, corresponding error correcting code is added, such as：Parity check code, Hamming checking code and CRC.Further, by currently
Two field picture for it with that after telemetry multiple connection processing, can add corresponding time sequence number.Such as：Each two field picture with it is corresponding
It is that the data after multiple connection add clock sequence number after telemetry multiple connection.Because the picture frame of video has sequencing, such as：Depending on
Frequently 1 picture frame 1, picture frame 2, picture frame 3 are included by the priority of acquisition time.When collecting picture frame 1, obtain and picture frame
1 corresponding telemetry 1, is data 1 by its multiple connection, and the correspondence of data 1 has time sequence number 1.Similarly, when collecting picture frame 2,
Telemetry 2 corresponding with picture frame 2 is obtained, is data 2 by its multiple connection, the correspondence of data 2 has time sequence number 2.Collecting figure
During as frame 3, telemetry 3 corresponding with picture frame 3 is obtained, is data 3 by its multiple connection, the correspondence of data 3 has time sequence number 3.Machine
When carrying end transmission data, it may not successively be sent according to the order of data 1, data 2, data 3, may first send data 2, then
Send out after data 1 and data 3, addition time sequence number, ground terminal, can be signified according to time sequence number in the data that processing is received
The order shown is handled data, and ground terminal, which receives data, may also first receive data 2, receive the sum of data 1
According to 3, now, the time sequence number for receiving data is can extract, the composition for determining video 1 is data 1, data 2, data 3.By adding
Sequence number between added-time, it is possible to prevente effectively from because of frame losing and caused by shortage of data situation.Due to the mark by the way of time sequence number
Count evidence, and airborne end can save fuselage space without setting clock module.
Meanwhile, airborne end can also carry out integrity detection to data, to ensure the disturbing factor in transmitting procedure to data
The influence of integrality.In specific implementation process, error correction code data and the data integrity monitoring of addition can be according to reality
Need to be set, here, the application is not restricted.
Embodiment two
Fig. 4 is refer to, the embodiment of the present invention provides a kind of data processing method, the ground surface end applied to UAS
Machine, including：
S401：The first data that airborne end is sent are received, wherein, first data are to be handled by the airborne end multiple connection
With the current frame image and telemetry of the airborne end collection after anti-interference process；
S402：First data are carried out with solution multiple connection processing and data convert to handle, obtain the current frame image with
The telemetry.
Specifically, in the present embodiment, ground terminal theory diagram is as shown in Figure 5.Ground terminal processor by SPI from
Demodulation chip reads compressed video data and the telemetry that airborne end is transmitted, and is directly sent to ground-based computer by network interface
On, video data and telemetry are separated by processor, giving user data after separation is handled.
Similarly, ground terminal is when sending specific telecommand to airborne end, it would however also be possible to employ same mode, ground
Terminal is compressed coding to telecommand, can add corresponding error correcting code, and do integrity detection and power to instruction
Enhanced processing, is then sent telecommand to airborne end by monopole transmission antenna, airborne end is gone back to remote-control data
Original place is managed, and then airborne end can respond the telecommand, realizes that ground surface end machine-to-machine carries the flight control at end.
Embodiment three
Fig. 6 is refer to, the embodiment of the present invention provides a kind of data processing method, applied to UAS, including：
S601：Airborne end obtains the current frame image that image capture module is collected；
S602：The airborne end determines telemetry corresponding with the current frame image；
S603：The current frame image and the telemetry are carried out multiple connection processing and anti-interference place by the airborne end
Reason, generates the first data；
S604：The airborne end sends first data to ground terminal by the first channel；
S605：The ground terminal receiver carries first data that end is sent；
S606：The ground surface end carries out solution multiple connection processing to first data and handled with data convert, obtains described work as
Prior image frame and the telemetry.
It is airborne in UAS as shown in Figure 2, including airborne end and ground terminal specifically, in the present embodiment
End carries out data interaction, telemetry (including video data and the other remote measurements of the winged control unit collection at airborne end with ground surface end
Data) it can be sent by omnidirectional antenna to ground terminal, ground terminal can will receive telemetry in local display list
Member display sends it to user equipment.Similarly, ground terminal can be transmitted remote-control data and be used to control airborne end to airborne end
Flight or data acquisition.
Airborne end theory diagram between telemetry module and coding module by RS232 interfaces as shown in figure 3, connected.RS232
It is that the asynchronous transmission standard formulated by Electronic Industries Association (Electronic Industries Association, EIA) connects
Mouthful.Usual RS232 interfaces occur with the kenel of 9 pins (DB-9) or 25 pins (DB-25).Above-mentioned telemetry module and volume
The distance between code module is short, RS232 category single-ended signal transmission, is generally used for the communication within 20m, it, which has, uses circuit
Less, the characteristics of communications cost is low.Further, connected between above-mentioned coding module and processor by SPI interface.SPI
(Serial Peripheral Interface-- Serial Peripheral Interface (SPI)s) bus system is a kind of synchronous serial Peripheral Interface, it
Can be to be communicated in a serial fashion between various equipment to exchange information.SPI interface is synchronous serial-data transmission, in main device
Under the shift pulse of part, data step-by-step transmission is high-order preceding, and low level is full-duplex communication, data transmission bauds is fast, speed rear
Degree can reach several Mbps.With SPI interface transmitting video data efficiency high.Processor uses RS422 interfaces with configuration intercomputer
Connection, RS422 is poor transmission, strong antijamming capability, long transmission distance.
Airborne end gathers video image, telemetry module acquisition module when carrying out data acquisition by image capture module
Telemetry is gathered, such as：The winged control telemetry of flight course.Airborne end is in downlink link transmission video data and remote measurement
Data, receives link primary recipient ground remote control command information.Transmitting terminal uses comprehensive channel technology, the video counts after compression
It is transmitted according to a channel together with telemetry multiple connection, is shared.Specifically, image capture module collects present frame figure
As after, while the telemetry from serial ports reading now, processor is controlled current frame image and now corresponding telemetry
It is compressed coding, then by its multiple connection is a circuit-switched data, after the first data are generated, airborne end is by the corresponding signal of the first data
Carry out power amplification after, sent by T/R, by power amplification, can transmitting, improve operating distance, can keep away again
Exempt from electromagnetic interference.
In order to further improve the antijamming capability of data, coding can be compressed to current frame image and telemetry
When, corresponding error correcting code is added, such as：Parity check code, Hamming checking code and CRC.Further, by currently
Two field picture for it with that after telemetry multiple connection processing, can add corresponding time sequence number.Such as：Each two field picture with it is corresponding
It is that the data after multiple connection add clock sequence number after telemetry multiple connection.Because the picture frame of video has sequencing, such as：Depending on
Frequently 1 picture frame 1, picture frame 2, picture frame 3 are included by the priority of acquisition time.When collecting picture frame 1, obtain and picture frame
1 corresponding telemetry 1, is data 1 by its multiple connection, and the correspondence of data 1 has time sequence number 1.Similarly, when collecting picture frame 2,
Telemetry 2 corresponding with picture frame 2 is obtained, is data 2 by its multiple connection, the correspondence of data 2 has time sequence number 2.Collecting figure
During as frame 3, telemetry 3 corresponding with picture frame 3 is obtained, is data 3 by its multiple connection, the correspondence of data 3 has time sequence number 3.Machine
When carrying end transmission data, it may not successively be sent according to the order of data 1, data 2, data 3, may first send data 2, then
Send out after data 1 and data 3, addition time sequence number, ground terminal, can be signified according to time sequence number in the data that processing is received
The order shown is handled data, and ground terminal, which receives data, may also first receive data 2, receive the sum of data 1
According to 3, now, the time sequence number for receiving data is can extract, the composition for determining video 1 is data 1, data 2, data 3.By adding
Sequence number between added-time, it is possible to prevente effectively from because of frame losing and caused by shortage of data situation.Due to the mark by the way of time sequence number
Count evidence, and airborne end can save fuselage space without setting clock module.
Meanwhile, airborne end can also carry out integrity detection to data, to ensure the disturbing factor in transmitting procedure to data
The influence of integrality.In specific implementation process, error correction code data and the data integrity monitoring of addition can be according to reality
Need to be set, here, the application is not restricted.
Specifically, in the present embodiment, ground terminal theory diagram is as shown in Figure 5.Ground terminal processor by SPI from
Demodulation chip reads compressed video data and the telemetry that airborne end is transmitted, and is directly sent to ground-based computer by network interface
On, video data and telemetry are separated by processor, giving user data after separation is handled.
Similarly, ground terminal is when sending specific telecommand to airborne end, it would however also be possible to employ same mode, ground
Terminal is compressed coding to telecommand, can add corresponding error correcting code, and do integrity detection and power to instruction
Enhanced processing, is then sent telecommand to airborne end by monopole transmission antenna, airborne end is gone back to remote-control data
Original place is managed, and then airborne end can respond the telecommand, realizes that ground surface end machine-to-machine carries the flight control at end.
Example IV
Fig. 7 is refer to, the embodiment of the present application also provides a kind of airborne end, including：
Image capture module 701, for gathering video image；
Telemetry module 702, for gathering telemetry；
Memory cell 703, for storing at least one program module；
At least one first processor 704, at least one described first processor is by obtaining and running described at least one
Individual program module, for obtaining the current frame image that image capture module is collected in the airborne end；It is determined that with it is described current
The corresponding telemetry of two field picture；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process,
Generate the first data；
First antenna module 705, for first data to be sent to ground terminal by the first channel.
Optionally, at least one described first processor includes：
Coding module, for being compressed coded treatment respectively to the current frame image and the telemetry；
Multiple connection module, for the current frame image after coded treatment and telemetry to be carried out into multiple connection processing, generation second
Data；
Tfi module, for adding corresponding time sequence number in second data, generates the first data.
Optionally, the coding module is additionally operable to：
Coding is compressed respectively to the current frame image and the telemetry, and adds corresponding error correcting code.
At least one described first processor also includes：
Integrity detection module, for being carried out in the current frame image by after coded treatment and telemetry at multiple connection
After reason, the second data of generation, integrity detection is carried out to second data.
Optionally, the first antenna module includes：
Power amplifier module, for carrying out power amplification processing to the corresponding signal of first data；
First antenna, for the data after power amplification to be sent to the ground terminal.
Optionally, the first antenna is microstrip double frequency antenna.
Specifically, in the present embodiment, first antenna is that signal can be transmitted to ground terminal in microstrip double frequency antenna, can also
Receive the telecommand that ground terminal is sent.Microstrip double frequency antenna small volume, it is lightweight, can save the space at airborne end with again
Amount, is conducive to the Miniaturization Design at airborne end.Image capture module, coding module, multiple connection module in airborne end, power amplification
The modules such as module can be integrated in airborne end by the way of integrated, a standalone module is also used as, using grafting
Mode is connected with airborne end, here, the application is not construed as limiting.At least one first processor can be FPGA or
DSP, it is, of course, also possible to be other processors, here, the application is not restricted.
Embodiment five
Fig. 8 is refer to, the embodiment of the present application also provides a kind of ground terminal, including：
Second Anneta module 801, for receiving the first data that airborne end is sent, wherein, first data is by institutes
State the current frame image and telemetry of airborne end multiple connection processing and the airborne end collection after anti-interference process；
Memory cell 802, for storing at least one program module；
At least one second processor 803, at least one described second processor is by obtaining and running described at least one
Individual program module, handles with data convert for first data to be carried out with solution multiple connection processing, obtains the current frame image
With the telemetry.
Optionally, second Anneta module includes：
First monopole antenna, for receiving the data that the airborne end is sent；
Second monopole antenna, for sending data to the airborne end.
Specifically, in the present embodiment, at least one second processor can be FPGA or DSP, certainly, also
Can be other processors, here, the application is not restricted.
Ground terminal may also include modulation /demodulation module, for data processing, in addition to demultiplex connection module, for receiving
The the second data solution multiple connection processing arrived, obtains corresponding current frame image and telemetry.Because ground terminal can send distant
Control instruction is to airborne end, and ground terminal may also include compressed encoding module, be put for compressed encoding telecommand, in addition to power
Big module, the power of signal is sent for amplifying.In specific implementation process, modulation /demodulation module, demultiplex connection module, compression compile
Code module, power amplifier module can be connected independently of ground terminal by the way of grafting with ground terminal.Or, modulation
Demodulation module, demultiplex connection module, compressed encoding module, power amplifier module and can be integrated in inside the terminal of ground, here, the application
It is not limited.
Embodiment six
The embodiment of the present application also provides a kind of UAS, including：
Airborne end；The airborne end is used to obtain the current frame image that image capture module is collected；It is determined that working as with described
The corresponding telemetry of prior image frame；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference place
Reason, generates the first data；First data are sent to ground terminal by the first channel；
The ground terminal, the ground terminal is used to receive first data that airborne end is sent；To described first
Data carry out solution multiple connection processing and handled with data convert, obtain the current frame image and the telemetry.
Optionally, the airborne end includes：
Image capture module, for gathering video image；
Telemetry module, for gathering telemetry；
Memory cell, for storing at least one program module；
At least one first processor, at least one described first processor is by obtaining and running at least one described journey
Sequence module, for obtaining the current frame image that image capture module is collected in the airborne end；It is determined that with the present frame figure
As corresponding telemetry；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, generation
First data；
First antenna module, for first data to be sent to ground terminal by the first channel.
Optionally, at least one described first processor includes：
Coding module, for being compressed coded treatment respectively to the current frame image and the telemetry；
Multiple connection module, for the current frame image after coded treatment and telemetry to be carried out into multiple connection processing, generation second
Data；
Tfi module, for adding corresponding time sequence number in second data, generates the first data.
Optionally, the coding module is additionally operable to：
Coding is compressed respectively to the current frame image and the telemetry, and adds corresponding error correcting code.
Optionally, at least one described first processor also includes：
Integrity detection module, for being carried out in the current frame image by after coded treatment and telemetry at multiple connection
After reason, the second data of generation, integrity detection is carried out to second data.
Optionally, the first antenna module includes：
Power amplifier module, for carrying out power amplification processing to the corresponding signal of first data；
First antenna, for the data after power amplification to be sent to the ground terminal.
Optionally, the first antenna is microstrip double frequency antenna.
Optionally, the ground terminal, including：
Second Anneta module, for receiving the first data that airborne end is sent, wherein, first data are by the machine
Carry the current frame image and telemetry of end multiple connection processing and the airborne end collection after anti-interference process；
Memory cell, for storing at least one program module；
At least one second processor, at least one described second processor is by obtaining and running at least one described journey
Sequence module, handles with data convert for first data to be carried out with solution multiple connection processing, obtains the current frame image and institute
State telemetry.
Optionally, second Anneta module includes：
First monopole antenna, for receiving the data that the airborne end is sent；
Second monopole antenna, for sending data to the airborne end.
In the present embodiment, the monopole antenna in the terminal of ground and the microstrip double frequency antenna at airborne end are in unmanned aerial vehicle platform
Implementation applied with cooperating, improve the reliability and stability of data transfer, the operating distance between lifting system.
Pass through one or more of the embodiment of the present application technical scheme, it is possible to achieve following one or more technology effects
Really：
1st, image capture module in the airborne end is obtained due in technical scheme in the embodiment of the present application, employing
The current frame image collected；It is determined that telemetry corresponding with the current frame image；By the current frame image with it is described
Telemetry carries out multiple connection processing and anti-interference process, generates the first data；First data are sent by the first channel
To the technological means of ground terminal.So, UAS airborne end gather video data each two field picture with it is right
The telemetry answered carries out multiple connection and anti-interference process, can effectively ensure the validity of the data of airborne end transmission, also,
Because video data and telemetry multiple connection are to all the way, channel resource can be effectively saved by a transmission.So,
It can effectively solve the presence of the low skill of the data reliability transmitted in UAS between the terminal of airborne end and ground in the prior art
Art problem.
2nd, due in technical scheme in the embodiment of the present application, employing to the current frame image and the remote measurement number
According to being compressed coding respectively, and add the technological means of corresponding error correcting code.So, data anti-interference in itself can be improved
Ability, effectively ensures the reliability of data.
3rd, due in technical scheme in the embodiment of the present application, employing to the current frame image and the remote measurement number
According to being compressed coded treatment respectively；Current frame image after coded treatment and telemetry are subjected to multiple connection processing, generation the
Two data；The technological means of corresponding time sequence number is added in second data.So, transmission can be effectively reduced
Real-time index in data volume, raising radio transmission, also, because data add time sequence number, can prevent in data
There is frame losing in transmitting procedure and cause error of transmission.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can be used in one or more computers for wherein including computer usable program code
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Specifically, the corresponding computer program instructions of classification in the embodiment of the present application can be stored in CD, firmly
On disk, the storage medium such as USB flash disk, when in storage medium with the corresponding computer program instructions of classification by an airborne end read or by
During execution, comprise the following steps：
Obtain the current frame image that image capture module is collected in the airborne end；
It is determined that telemetry corresponding with the current frame image；
The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, the first data are generated；
First data are sent to ground terminal by the first channel.
Optionally, stored in the storage medium and step：The current frame image and the telemetry are carried out
Multiple connection processing and anti-interference process, the corresponding computer program instructions of the first data of generation when executed, are specifically included as follows
Step：
Coded treatment is compressed respectively to the current frame image and the telemetry；
Current frame image after coded treatment and telemetry are subjected to multiple connection processing, the second data are generated；
Corresponding time sequence number is added in second data, the first data are generated.
Optionally, stored in the storage medium and step：The current frame image and the telemetry are distinguished
It is compressed the corresponding computer program instructions of coded treatment when executed, specifically includes following steps：
Coding is compressed respectively to the current frame image and the telemetry, and adds corresponding error correcting code.
Optionally, be also stored with other computer program instructions in the storage medium, the other computer
Comprise the following steps in programmed instruction implementation procedure：Integrity detection is carried out to second data.
Optionally, stored in the storage medium and step：First data are sent to ground by the first channel
Terminal corresponding computer program instructions in face when executed, specifically include following steps：
Signal corresponding to first data carries out power amplification processing, and the data after power amplification are sent to described
Ground terminal.
Specifically, the corresponding computer program instructions of classification in the embodiment of the present application can be stored in CD, firmly
On disk, the storage medium such as USB flash disk, when in storage medium with the corresponding computer program instructions of classification by a ground surface end it is machine-readable take or
When being performed, comprise the following steps：
The first data that airborne end is sent are received, wherein, first data are with resisting by the airborne end multiple connection processing
The current frame image and telemetry of the airborne end collection after interference processing；
First data are carried out with solution multiple connection processing and data convert to handle, obtain the current frame image with it is described distant
Survey data.
Specifically, the corresponding computer program instructions of classification in the embodiment of the present application can be stored in CD, firmly
On disk, the storage medium such as USB flash disk, when in storage medium with the corresponding computer program instructions of classification by a ground surface end it is machine-readable take or
When being performed, comprise the following steps：
Airborne end is controlled to obtain the current frame image that image capture module is collected；
The airborne end is controlled to determine telemetry corresponding with the current frame image；
Control the airborne end that the current frame image and the telemetry are carried out into multiple connection processing and anti-interference process,
Generate the first data；
The airborne end is controlled to send first data to ground terminal by the first channel；
The ground terminal receiver is controlled to carry first data that end is sent；
Control the ground surface end to carry out first data solution multiple connection processing to handle with data convert, obtain described current
Two field picture and the telemetry.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (16)
1. a kind of data processing method, the airborne end applied to UAS, it is characterised in that including：
Obtain the current frame image that image capture module is collected in the airborne end；
It is determined that telemetry corresponding with the current frame image；
The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, the first data are generated；
First data are sent to ground terminal by the first channel.
2. data processing method as claimed in claim 1, it is characterised in that described by the current frame image and the remote measurement
Data carry out multiple connection processing and anti-interference process, generate the first data, specifically include：
Coded treatment is compressed respectively to the current frame image and the telemetry；
Current frame image after coded treatment and telemetry are subjected to multiple connection processing, the second data are generated；
Corresponding time sequence number is added in second data, the first data are generated.
3. data processing method as claimed in claim 2, it is characterised in that to the current frame image and the telemetry
Coded treatment is compressed respectively, is specifically included：
Coding is compressed respectively to the current frame image and the telemetry, and adds corresponding error correcting code.
4. data processing method as claimed in claim 2, it is characterised in that in the current frame image by after coded treatment
Multiple connection processing is carried out with telemetry, is generated after the second data, methods described also includes：Second data are carried out complete
Property detection.
5. the data processing method as described in any claim in claim 1-4, it is characterised in that described by described first
Data are sent to ground terminal by the first channel, are specifically included：
Signal corresponding to first data carries out power amplification processing, and the data after power amplification are sent to the ground
Terminal.
6. a kind of data processing method, the ground terminal applied to UAS, it is characterised in that including：
Receive the first data that airborne end is sent, wherein, first data be by the airborne end multiple connection processing with it is anti-interference
The current frame image and telemetry of the airborne end collection after processing；
First data are carried out with solution multiple connection processing to handle with data convert, the current frame image and the remote measurement number is obtained
According to.
7. a kind of data processing method, applied to UAS, it is characterised in that including：
Airborne end obtains the current frame image that image capture module is collected；
The airborne end determines telemetry corresponding with the current frame image；
The current frame image and the telemetry are carried out multiple connection processing and anti-interference process, generation first by the airborne end
Data；
The airborne end sends first data to ground terminal by the first channel；
The ground terminal receiver carries first data that end is sent；
The ground surface end carries out solution multiple connection processing and data convert to first data and handled, obtain the current frame image with
The telemetry.
8. a kind of airborne end, it is characterised in that including：
Image capture module, for gathering video image；
Telemetry module, for gathering telemetry；
Memory cell, for storing at least one program module；
At least one first processor, at least one described first processor is by obtaining and running at least one described program mould
Block, for obtaining the current frame image that image capture module is collected in the airborne end；It is determined that with the current frame image pair
The telemetry answered；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, generation first
Data；
First antenna module, for first data to be sent to ground terminal by the first channel.
9. airborne end as claimed in claim 8, it is characterised in that at least one described first processor includes：
Coding module, for being compressed coded treatment respectively to the current frame image and the telemetry；
Multiple connection module, for the current frame image after coded treatment and telemetry to be carried out into multiple connection processing, generates the second data；
Tfi module, for adding corresponding time sequence number in second data, generates the first data.
10. airborne end as claimed in claim 9, it is characterised in that the coding module is additionally operable to：
Coding is compressed respectively to the current frame image and the telemetry, and adds corresponding error correcting code.
11. airborne end as claimed in claim 9, it is characterised in that at least one described first processor also includes：
Integrity detection module, for carrying out multiple connection processing in the current frame image by after coded treatment and telemetry,
Generate after the second data, integrity detection is carried out to second data.
12. the airborne end as described in any claim in claim 8-11, it is characterised in that the first antenna module bag
Include：
Power amplifier module, for carrying out power amplification processing to the corresponding signal of first data；
First antenna, for the data after power amplification to be sent to the ground terminal.
13. airborne end as claimed in claim 12, it is characterised in that the first antenna is microstrip double frequency antenna.
14. a kind of ground terminal, it is characterised in that including：
Second Anneta module, for receiving the first data that airborne end is sent, wherein, first data are by the airborne end
The current frame image and telemetry of multiple connection processing and the airborne end collection after anti-interference process；
Memory cell, for storing at least one program module；
At least one second processor, at least one described second processor is by obtaining and running at least one described program mould
Block, is handled for first data to be carried out with solution multiple connection processing and data convert, obtain the current frame image with it is described distant
Survey data.
15. airborne end as claimed in claim 14, it is characterised in that second Anneta module includes：
First monopole antenna, for receiving the data that the airborne end is sent；
Second monopole antenna, for sending data to the airborne end.
16. a kind of UAS, it is characterised in that including：
Airborne end；The airborne end is used to obtain the current frame image that image capture module is collected；It is determined that with the present frame
The corresponding telemetry of image；The current frame image and the telemetry are subjected to multiple connection processing and anti-interference process, it is raw
Into the first data；First data are sent to ground terminal by the first channel；
The ground terminal, the ground terminal is used to receive first data that airborne end is sent；To first data
Carry out solution multiple connection processing to handle with data convert, obtain the current frame image and the telemetry.
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