CN111565291A - Multi-base-station image transmission method for unmanned aerial vehicle - Google Patents
Multi-base-station image transmission method for unmanned aerial vehicle Download PDFInfo
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- CN111565291A CN111565291A CN202010676343.5A CN202010676343A CN111565291A CN 111565291 A CN111565291 A CN 111565291A CN 202010676343 A CN202010676343 A CN 202010676343A CN 111565291 A CN111565291 A CN 111565291A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/12—Systems in which the television signal is transmitted via one channel or a plurality of parallel channels, the bandwidth of each channel being less than the bandwidth of the television signal
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- H—ELECTRICITY
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- H04L1/00—Arrangements for detecting or preventing errors in the information received
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- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
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Abstract
The invention relates to an unmanned aerial vehicle multi-base station image transmission method, which comprises the following steps: encoding image signals acquired by unmanned aerial vehicle task equipment to generate information source encoded data; performing channel coding on data according to the transmission characteristics of transmission channels from the unmanned aerial vehicle to the base station and from the base station to the command center; the command center receives N groups of data transmitted by N base stations; the command center performs channel decoding on the N groups of data; the command center performs source decoding on the N groups of data; the command center compares the decoded N groups of data according to bytes to generate fused data; and the command center displays the finally generated fusion data as optimal image data. The method performs fusion processing on image data transmitted by the same information source through N different channels, can obtain image data superior to any one group in N groups of data, and can overcome the difficulty of image quality evaluation on multiple groups of images in the prior art and the problem of inevitable interference of a single transmission channel.
Description
Technical Field
The invention relates to the field of image transmission, in particular to a multi-base-station image transmission method for an unmanned aerial vehicle.
Background
Generally, digital image data acquired by task equipment on an unmanned aerial vehicle is subjected to data compression and then is sent to a plurality of ground base stations through channel coding, and the plurality of ground base stations transmit the received image data to an instruction control center at the same time. In engineering practice, technical measures such as properly increasing the transmission signal power, matching filtering reception, reasonably selecting a modulation and demodulation mode, performing error control coding and the like are adopted to improve the reliability of digital image transmission, but various random errors and burst errors are inevitable in transmitted data due to various noises and interferences in an actual channel, so that the image transmission quality is reduced. Therefore, the command center needs to perform quality evaluation on the same source data transmitted from multiple channels, and select the channel with the best image transmission quality for image data transmission.
However, the original images are needed for image transmission quality evaluation, and it is actually impossible for the command center to obtain the original images collected by the unmanned aerial vehicle task equipment in time. Document [1] (patent specification of invention with publication number CN 106713905B) provides a method for detecting image transmission quality, which realizes the detection of image transmission quality based on a preset image detection protocol, and actually makes a sink end send a command to make a source end generate a preset image, and then makes a sink end compare image data transmitted through a channel with the preset image, thereby calculating an image transmission error rate. In the multi-base-station image transmission of the unmanned aerial vehicle, the method has the following problems: firstly, an additional instruction transmission channel from an information sink to an information source needs to be added, and the problem of how to ensure the reliable transmission of instructions exists; secondly, the information source end needs to be modified to receive the image transmission instruction and generate preset image data according to the image transmission instruction, so that the complexity of the information source is increased; thirdly, the dynamic change reaction to the transmission channel is not timely, especially when the unmanned aerial vehicle flies at a high speed, the transmission quality condition of the transmission channel changes very fast, the method needs to continuously detect the quality of the transmission channel, and the time for transmitting the actual image can be inevitably seriously occupied. In addition, even if a certain transmission channel having the best transmission quality is selected by evaluating the transmission quality, at most, only images having transmission qualities not superior to the transmission quality of the transmission channel can be obtained, and images having transmission qualities superior to all transmission channels cannot be obtained.
Disclosure of Invention
In view of this, the present invention provides a method for transmitting images of multiple base stations of an unmanned aerial vehicle, which does not evaluate the transmission quality of multiple base station transmission channels of the unmanned aerial vehicle, but performs fusion processing on multiple sets of data simultaneously transmitted by the same information source through multiple transmission channels.
An unmanned aerial vehicle multi-base station image transmission method comprises the following steps:
encoding image signals acquired by unmanned aerial vehicle task equipment to generate information source encoded data;
performing channel coding on data according to the transmission characteristics of transmission channels from the unmanned aerial vehicle to the base station and from the base station to the command center;
the command center receives N groups of data transmitted by N base stations;
the command center performs channel decoding on the N groups of data;
the command center performs source decoding on the N groups of data;
the command center compares the decoded N groups of data according to bytes to generate fused data, and the fused data is generated according to the following steps:
step 1, counting unit C for recording same byte numberj(j =1, 2.... N (N-1)/2) is initialized: cj=0；
Step 2, generating an array D of byte typesj(j =1, 2.... times.n (N-1)/2), the array length m = the data length of the received N sets of data, and D is initializedj=[0, 0, ...... , 0]；
And 3, sequentially adding the ith byte (i =1, 2,.. multidot.m) in the 1 st group of data and the 2 nd group of dataThe ith byte in the data is compared according to binary bits: if the two bytes are the same, the ith byte in the 1 st data is the same as the ith byte in the 2 nd data, C1=C1+1, write the ith byte in the 1 st data into D1The ith byte of (a); if the binary bits of the two bytes are different, the ith byte in the 1 st data is different from the ith byte in the 2 nd data, C1、D1The change is not changed;
step 4, repeating step 3, finishing comparison of all m bytes of the 1 st group data and the 2 nd group data, and obtaining a comparison result C of the 1 st group data and the 2 nd group data1And D1；
Step 5, sequentially comparing the 1 st group data with the 3 rd group data, the 1 st group data with the 4 th group data, the 1 st group data with the N th group data, the 2 nd group data with the 3 rd group data, the 2 nd group data with the 4 th group data, the 2 nd group data with the N th group data, and obtaining the C group data, the 1 st group data and the 3 rd group data according to the method of the 4 th stepjAnd Dj；
Step 6, selecting CjD corresponding to the maximum value ofjAs initial fusion data DM;
step 7, record CjThe position of different byte data in 2 groups of data in the N groups of data corresponding to the maximum value in the data fusion system is found out from the corresponding position in the rest N-2 groups of data, and the data with the same byte is filled into the corresponding position of the initial fusion data DM to obtain the final fusion data DL;
and the final fusion data DL is used as the optimal image data for display by the command center.
Preferably, the image signal collected by the unmanned aerial vehicle task equipment is encoded by adopting the MPEG-4 standard to generate source coding data.
Preferably, the command center source decodes the N groups of data using the MPEG-4 standard.
Preferably, the data is channel-encoded and channel-decoded using the LDPC code.
The invention has the beneficial effects that: the transmission quality of the multi-base-station transmission channel of the unmanned aerial vehicle is not evaluated, but multiple groups of data transmitted by the same information source through the multiple transmission channels are subjected to fusion processing, image data superior to any one group of data in N groups of data can be obtained, the problem that in the prior art, multiple groups of images are required to be subjected to image quality evaluation to select the optimal transmission channel is solved, and the problem of channel interference existing in a single transmission channel can be solved to obtain image transmission data superior to the transmission quality of the single channel.
Drawings
Fig. 1 is a schematic flow chart of an unmanned aerial vehicle multi-base station image transmission method;
fig. 2 is a schematic diagram of the command center comparing the decoded N groups of data by bytes to generate fused data.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As shown in fig. 1, the image transfer data processing is performed as follows.
And 102, acquiring a video signal by a camera on the unmanned aerial vehicle, and carrying out MPEG-4 compression coding after digital processing to generate source coding data.
And step 104, taking a wireless communication channel from the unmanned aerial vehicle to the base station and an optical fiber transmission channel from the base station to the command center as a unified image transmission channel, and performing channel coding on the data output in the step 102 by using an LDPC code.
And 106, establishing communication connection between N base stations (N is an integer greater than or equal to 3) and the unmanned aerial vehicle and the command center at any moment, so that N image transmission channels exist from the unmanned aerial vehicle to the command center at the moment. The image data generated in step 104 are transmitted to the command center through N image transmission channels, and N sets of image data are obtained at the command center.
And step 108, the command center performs channel decoding on the received N groups of data by adopting the LDPC code.
And step 110, the command center performs MPEG-4 decompression on the N groups of data generated in the step 108 to finally obtain N groups of image data.
And step 112, comparing the decoded N groups of data by bytes by the command center to generate fused data DL.
And step 114, the command center displays the fusion data DL generated in the step 112 as optimal image data.
Fig. 2 is a refinement of step 112 in fig. 1. As shown in fig. 2, the specific steps of comparing the decoded N groups of data by bytes and generating the fusion data DL by the command center are as follows:
In a step 216, the process is carried out,if N =3, then C is selectedjMaximum value of CjmaxCorresponding DjAs fusion data DL.
Step 220, if N is more than or equal to 5, selecting CjmaxCorresponding DjAs preliminary fusion data DM, CjmaxThe corresponding 2 sets of raw data are denoted as DRt1And DRt2Will DRt1And DRt2Is marked as DM (a)1)、DM(a2)、......、DM(ap) (p=m-Cjmax) Will DRt1And DRt2From DRtMiddle deletion generation DPt(t =1, 2...., N-2); initializing same byte count unit Bq=0 (q =1, 2,..., (N-2) (N-3)/2), initializing DMq= DM; sequentially adding DP1And DP2A in (a)1、a2、......、apThe bytes are compared in binary bits if DP1(i)=DP2(i) (i=a1, a2,...... , ap) Then B isq=Bq+1，DMq(i)=DP1(i) (ii) a If DP1(i)≠DP2(i) Then B isq、DMqThe change is not changed; sequentially adding DP1And DP3、DP1And DP4、......、DP1And DPN-2、DP2And DP3、DP2And DP4、......、DP2And DPN-2、......、DPN-3And DPN-2A in (a)1、a2、......、apThe bytes are compared in binary bits if DP1(i)=DP2(i) (i=a1, a2,...... , ap) Then B isq=Bq+1，DMq(i)=DP1(i) (ii) a If DP1(i)≠DP2(i) Then B isq、DMqThe change is not changed; selection BqMaximum value of (B)qmaxCorresponding DMqAs fusion data DL.
Will DRtThe time of transmission is denoted as T, and each byte DRt(k) The time of transmission is denoted as T (k), then T =
. Because various noises and interferences existing in the multi-base station transmission channels of the unmanned aerial vehicle have randomness, that is to say, at any moment, the noise and interference degrees received by the N transmission channels are different, and the noise and interference degrees received by a part of the transmission channels are necessarily smaller in the N channels. Thus, in step 218 or step 220, there are 2 or more DPs in the approximate time period t (i)t(i) The same, i.e. a large probability that the byte data DP not subjected to noise and interference will bet(i) Find out and write it into DMq(i) Thus, optimization of the fusion data DL is realized.
The embodiment of the invention can carry out sequence adjustment, combination and deletion according to actual needs.
The embodiments describe the present invention in detail, and the specific embodiments are applied to illustrate the principle and the implementation of the present invention, and the above embodiments are only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (4)
1. An unmanned aerial vehicle multi-base station image transmission method is characterized in that:
encoding image signals acquired by unmanned aerial vehicle task equipment to generate information source encoded data;
performing channel coding on data according to the transmission characteristics of transmission channels from the unmanned aerial vehicle to the base station and from the base station to the command center;
the command center receives N groups of data transmitted by N base stations;
the command center performs channel decoding on the N groups of data;
the command center performs source decoding on the N groups of data;
the command center compares the decoded N groups of data according to bytes to generate fused data, and the fused data is generated according to the following steps:
step 1, counting unit C for recording same byte numberj(j =1, 2.... N (N-1)/2) is initialized: cj=0；
Step 2, generating an array D of byte typesj(j =1, 2.... times.n (N-1)/2), the array length m = the data length of the received N sets of data, and D is initializedj=[0, 0, ...... , 0]；
And 3, sequentially comparing the ith byte (i =1, 2,.. m) in the 1 st group of data with the ith byte in the 2 nd group of data in a binary bit mode: if the two bytes are the same, the ith byte in the 1 st data is the same as the ith byte in the 2 nd data, C1=C1+1, write the ith byte in the 1 st data into D1The ith byte of (a); if the binary bits of the two bytes are different, the ith byte in the 1 st data is different from the ith byte in the 2 nd data, C1、D1The change is not changed;
step 4, repeating step 3, finishing comparison of all m bytes of the 1 st group data and the 2 nd group data, and obtaining a comparison result C of the 1 st group data and the 2 nd group data1And D1；
Step 5, sequentially comparing the 1 st group data with the 3 rd group data, the 1 st group data with the 4 th group data, the 1 st group data with the N th group data, the 2 nd group data with the 3 rd group data, the 2 nd group data with the 4 th group data, the 2 nd group data with the N th group data, and obtaining the C group data, the 1 st group data and the 3 rd group data according to the method of the 4 th stepjAnd Dj；
Step 6, selecting CjD corresponding to the maximum value ofjAs initial fusion data DM;
step 7, record CjThe position of different byte data in 2 groups of data in the N groups of data corresponding to the maximum value in the data fusion system is found out from the corresponding position in the rest N-2 groups of data, and the data with the same byte is filled into the corresponding position of the initial fusion data DM to obtain the final fusion data DL;
and the final fusion data DL is used as the optimal image data for display by the command center.
2. The unmanned aerial vehicle multi-base station image transmission method according to claim 1, characterized in that: and (4) encoding the image signals acquired by the unmanned aerial vehicle task equipment by adopting an MPEG-4 standard to generate information source encoded data.
3. The unmanned aerial vehicle multi-base station image transmission method according to claim 1, characterized in that: and the command center performs source decoding on the N groups of data by adopting the MPEG-4 standard.
4. The unmanned aerial vehicle multi-base station image transmission method according to claim 1, characterized in that: and performing channel coding and channel decoding on the data by using the LDPC code.
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| CN112187336A (en) * | 2020-09-11 | 2021-01-05 | 中国航空工业集团公司成都飞机设计研究所 | Unmanned aerial vehicle anti-interference telemetering data fusion method |
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