CN115118983A - Near-zero time delay non-compression video roaming transmission method and system - Google Patents
Near-zero time delay non-compression video roaming transmission method and system Download PDFInfo
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Abstract
The invention belongs to the technical field of high-definition ultrahigh-definition video transmission, and particularly discloses a near-zero-time-delay non-compression video roaming transmission method and a near-zero-time-delay non-compression video roaming transmission system. The two-stage roaming switching method and system based on video synchronization have the advantages of low cost of large-scale networking of roaming hard switching, effective removal of noise and interference of a signal-free area, seamless smooth roaming of joint reception and the like.
Description
Technical Field
The invention belongs to the technical field of high-definition ultrahigh-definition video transmission, and relates to a near-zero-time-delay non-compression video roaming transmission method and system.
Background
The remote unmanned technology comprises a remote unmanned vehicle, a remote unmanned aerial vehicle and the like, and the technology requires high definition of video transmission, no compression and near zero time delay. Currently, there are two mainstream video transmission technologies:
(1) analog video transmission: analog video transmission has the advantages of small calculation amount and continuous gradual change of video performance, but the technology is original and the performance is limited.
(2) Digital video transmission (wireless digital video transmission). In order to reduce the amount of transmission data, wireless digital video transmission compresses and then transmits video data, but increases the delay of compression and decompression. Therefore, compressed digital video transmission also cannot meet the requirement of near zero delay of remote driving.
The traditional wireless uncompressed digital video transmission serializes the data of the digital source video to generate an extremely high speed bit stream, and transmits the bit stream in an extremely wide frequency band after digital modulation, the transmission distance is short, and the video transmission service is easily interrupted or lost due to the inherent digital cliff effect.
The existing video transmission apparatus can also use the 5G + technology, but for high-speed remote driving, the technology has the following disadvantages:
(1) when the video is transmitted, each frame of image data is compressed and encoded, and the image quality is limited. More importantly, the time consumption for compressing the video image is long, the time delay is increased, and the high-speed driving cannot be realized;
(2) using public network transmission, the transmitting end reaches the receiving end through a long path, and the end-to-end time delay is between dozens of milliseconds and hundreds of milliseconds;
(3) the 5G uplink rate is lower than the downlink rate, the video uplink required rate is high, once the users are too many and the service load is too heavy, the image is blocked and even the image is lost.
Therefore, the 5G wireless system is not suitable for high-speed remote driving with extremely high real-time controllability.
Patent CN 106688229 provides a method for transmitting high definition video based on transform domain, which occupies small radio frequency analog bandwidth, has near zero delay, and has no digital cliff effect, but mainly realizes point-to-point uncompressed high definition video wireless transmission. In remote driving applications, the vehicle needs to travel in a large area, so that the transmission distance of the video greatly exceeds the point-to-point communication distance. Therefore, a transmission method and system for expanding the driving range of remote driving is urgently needed.
Disclosure of Invention
The invention aims to provide a near-zero-time-delay uncompressed video roaming transmission method and system, which can expand the driving range of remote driving.
In order to achieve the purpose, the basic scheme of the invention is as follows: a near-zero time delay non-compression video roaming transmission method comprises the following steps:
the video sending device acquires a source video image, performs coding modulation on the source video image and transmits the source video image;
the multi-base station multi-channel receives wireless signals transmitted by a video transmitting device;
based on video synchronization, performing multi-channel roaming hard handoff, and selecting a plurality of roaming hard handoff channels to receive wireless signals;
jointly receiving signals of a plurality of roaming hard switching channels to obtain roaming output signals;
and demodulating and decoding the roaming output signal to obtain a source video image.
The working principle and the beneficial effects of the basic scheme are as follows: according to the scheme, a hard switching method is utilized to realize all functions of a hard switching selection channel and partial functions of a pre-selection channel, other channels are only used for simply detecting power, and compared with the method that all functions are realized in the whole channel, the cost is lower; roaming hard handoff effectively removes noise and interference in the no-signal area; based on video synchronous roaming hard switching, seamless video switching is realized, video discontinuity problems such as pause, interruption and jump of video signals are avoided, and the video synchronous switching can not be realized through public network transmission such as 5G.
And joint receiving can realize seamless smooth roaming and improve the signal-to-noise ratio of signals. The roaming networking approach can expand the transmission coverage of uncompressed video by many orders of magnitude. The joint reception of signals of a plurality of roaming hard handoff channels is soft handoff, and the soft handoff can solve the problem of signal difference caused by single-channel signal shielding or multipath. The multi-channel is jointly received, the channel with good signal can compensate the problem of signal difference caused by single-channel shielding or multipath, and the signal power and the signal-to-noise ratio are improved. By combining hard handover and soft handover, compared with full hard handover or full soft handover, the method has the advantages of higher handover performance, lower cost, and stronger reliability and stability. Further, the specific transmission method is as follows:
carrying out coding modulation on a source video image to generate a baseband signal;
and performing up-conversion on the baseband signal to obtain a radio frequency signal, and transmitting the radio frequency signal through a wireless transmitting module.
And the source video image is coded and modulated, thereby facilitating signal transmission.
Further, the receiving method is as follows: the multi-base-station multi-channel receiving module receives the radio frequency signals and carries out down-conversion on the radio frequency signals to obtain base band signals.
The operation is simple and the use is convenient.
Further, the method for performing multi-channel roaming hard handoff is as follows:
detecting the power of multiple channels;
selecting a roaming hard switching channel according to the power of each channel, and performing hard switching on the channel within the time corresponding to a vertical blanking area or a horizontal blanking area of each frame of video image;
performing time-delay registration on the roaming hard switching channel;
and performing power registration on the roaming hard switching channel.
And roaming switching is carried out in the time corresponding to the video blanking area according to the video characteristics, so that seamless roaming hard switching is realized. The time delay registration and the power registration can optimize the channel performance and are beneficial to use.
Further, a pre-selection channel is arranged in the multi-channel roaming hard switching process:
detecting and sequencing the power of a plurality of receiving channels, and selecting m receiving channels with the maximum power as preselected channels, wherein m is a positive integer;
and when the power of the pre-selected channel is larger than the threshold value, the pre-selected channel is used as a roaming hard switching channel.
Thus, the roaming efficiency is higher and more stable.
Further, a pre-selection channel is not set in the multi-channel roaming hard handover process:
and detecting and sequencing the power of a plurality of receiving channels, and selecting m receiving channels with the maximum power as roaming hard switching channels, wherein m is a positive integer.
The operation process is more simple and convenient, and the use is facilitated.
Further, the method for performing delayed registration on roaming hard handoff comprises the following steps:
and according to the arrival time stamps of the frame headers of the channels, subtracting the time stamps of the frame headers of other channels from the time stamp of the frame header of the channel with the maximum power, calculating the delay difference, and aligning the signals of the channels by adjusting the delay.
And the channels are subjected to time delay registration, so that the signal time sequence alignment is ensured, and the demodulation and decoding effects are better.
Further, the method for performing power registration on the roaming hard handoff channel comprises the following steps:
and according to the power of each channel, adjusting the channel with the maximum power in the roaming hard switching channel to a preset target power, and setting the same power gain for other channels.
And power registration is carried out on the corresponding channel, so that the performance is optimized and the use is facilitated.
Further, the method of obtaining the roaming output signal is as follows:
jointly receiving channels selected by video roaming hard switching to obtain output signals;
calculating a weight coefficient according to the power of the channel selected by the video roaming hard handover;
and carrying out weighted summation according to the weight coefficient to obtain a roaming output signal.
The channel selected by the video roaming hard switch is jointly received, compared with single-channel receiving, the problem of signal difference caused by signal shielding or multipath can be solved, and the stability and reliability of video transmission are improved.
The invention also provides a near-zero time delay non-compression video roaming transmission system based on the method, which comprises a video transmitting device, a plurality of base stations and a roaming control center;
the video sending device acquires a source video image, performs coding modulation on the source video image and transmits the source video image;
a plurality of base stations receive wireless signals transmitted by the video transmitting device in a multi-channel manner;
the roaming control center performs multi-channel roaming hard switching based on video synchronization, selects a plurality of roaming hard switching channels to receive wireless signals, jointly receives signals of the plurality of roaming hard switching channels to obtain roaming output signals, and demodulates and decodes the roaming output signals to obtain source video images.
The system can realize near-zero time delay non-compression video roaming transmission. The hard switching method has lower cost; the roaming hard switching effectively removes noise and interference of a signal-free area, realizes seamless video switching, and does not generate video discontinuity problems of pause, interruption, jump and the like of video signals. The joint receiving can realize seamless smooth roaming, signal to noise ratio is improved, and the roaming networking mode can enlarge the transmission coverage range of uncompressed video in a plurality of orders of magnitude.
Drawings
FIG. 1 is a schematic flow chart of a near-zero-latency uncompressed video roaming transmission method according to the present invention;
fig. 2 is a schematic structural diagram of a video image of the near-zero-delay uncompressed video roaming transmission method of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The embodiment is as follows:
the present embodiment illustrates the method and system of the present invention with a system of a mobile vehicle, three base stations, and a roaming station. The vehicle end is a video acquisition and transmission device, the transmission device is single-transmission, and each base station is in a two-receiving mode. And the vehicle-end sending device transmits one path of high-definition video.
The embodiment of the invention discloses a near-zero-delay non-compression video roaming transmission method, which is used for performing video roaming switching based on a two-stage roaming switching (two-channel roaming hard switching and two-channel roaming soft switching) technology of video synchronization. As shown in fig. 1, the method comprises the steps of:
the video sending device acquires a source video image, and carries out real-time non-compression coding modulation and emission on each frame of image of the source video image during a vertical forward stroke period; the specific transmitting method comprises the following steps: carrying out coding modulation on a source video image to generate a baseband signal; and performing up-conversion on the baseband signal to obtain a radio frequency signal, and transmitting the radio frequency signal through a wireless transmitting module.
The method comprises the following steps that six channels of three base stations receive wireless radio frequency signals transmitted by a video transmitting device; the receiving method comprises the following steps: the three-base-station six-channel receiving module receives the radio frequency signal and carries out down-conversion on the radio frequency signal to obtain a baseband signal;
based on video synchronization, performing multi-channel roaming hard handoff, and selecting a plurality of (such as two) roaming hard handoff channels from all channels of all base stations to receive wireless signals;
jointly receiving signals of the roaming hard switching channels (namely performing two-channel roaming soft switching) to obtain roaming output signals;
and carrying out uncompressed video demodulation and decoding on the roaming output signal to obtain a source video image. According to the scheme, two-channel roaming hard handover can be performed firstly, then multi-channel roaming soft handover can be performed, and two-channel roaming soft handover can be performed firstly, then multi-channel roaming hard handover can be performed, and the sequence does not affect the processing of data. If the multi-channel soft switching of the base station is carried out firstly, the uncompressed video is demodulated and decoded to obtain multi-channel video images; and then calculating and comparing the signal-to-noise ratio of the received image to perform multi-channel hard switching, and selecting the channel or the base station with the highest signal-to-noise ratio.
In a preferred embodiment of the present invention, the method for performing multi-channel roaming hard handoff includes:
the multi-channel roaming hard switching can adopt a channel multi-path selector, the total number of receiving channels is N, the number of roaming hard switching channels is M, N is not less than M, and N is an integer not less than 1; the number of selectable channels of the roaming hard switching channel is one or more; in this embodiment, the total number of receiving channels is 6 channels (3 base stations), and the roaming hard handoff channel is 2 channels.
Detecting the power of multiple channels;
selecting a roaming hard switching channel according to the power of each channel, and performing hard switching of the channel in the time corresponding to the vertical blanking area or the horizontal blanking area of each frame of video image, wherein the structure of the video image is shown in fig. 2; performing video roaming hard handoff in the time corresponding to the video transmission vertical blanking area, and performing once roaming hard handoff for each frame of image processing; performing video roaming hard switching within the time corresponding to the video transmission horizontal blanking area, wherein each line can process a roaming hard switching method once;
performing time-delay registration on the roaming hard switching channel;
and performing power registration on the roaming hard switching channel.
In a preferred scheme of the invention, a pre-selection channel is arranged in the multi-channel roaming hard handover process:
in this embodiment, the powers of 6 receiving channels are detected and sequenced, m receiving channels with the largest power are selected as preselection channels, where m is a positive integer, for example, a channel with power at the top 3 of the ranking (i.e., a channel with a better signal) is selected according to the power from high to low, and two channels selected by roaming hard handoff are excluded as preselection channels;
when the power of the pre-selection channel is larger than a threshold (the threshold can be adjusted according to needs, such as being set to 1db, 0db and the like), taking the pre-selection channel as a roaming hard switching channel;
the power of the pre-selected channel is stable, and continuous multiframes meet the power condition. The method for switching the preselected channel hard is adopted, the non-preselected channel does not participate in related calculation, hardware resources are not occupied, and compared with the method for switching the non-preselected channel hard, the method for switching the preselected channel hard saves the hardware resources and is lower in cost.
In another preferred scheme of the invention, a pre-selection channel is not set in the multi-channel roaming hard handoff process:
in this embodiment, the powers of the 6 receiving channels are detected and sequenced, and m receiving channels with the largest power are selected as roaming hard handoff channels, where m is a positive integer. The channel selected by the video roaming hard handover can be a channel on the same base station or a channel on different base stations.
In a preferred embodiment of the present invention, the method for performing delay registration on the roaming hard handoff channel comprises:
according to the arrival time stamps of the frame headers of all the channels, subtracting the time stamps of the frame headers of other channels from the time stamp of the frame header of the channel with the largest power, calculating the delay difference, aligning the signals of all the channels by adjusting the delay, setting the delay difference to be N clocks, and adjusting the signal delay of each channel to be N clocks.
In a preferred embodiment of the present invention, a method for performing power registration on a roaming hard handoff channel comprises:
and according to the power of each channel, adjusting the channel with the maximum power in the roaming hard switching channel to a preset target power, and setting the same power gain for other channels. Other channels which are not selected do not need to carry out subsequent operations of time delay registration, power registration, soft switching, uncompressed video demodulation and decoding and the like, and the waste of a large amount of hardware and software resources is avoided.
In a preferred embodiment of the present invention, the method for obtaining the roaming output signal (i.e. performing the video roaming soft handover) is as follows:
jointly receiving channels selected by video roaming hard switching to obtain output signals;
calculating a weight coefficient according to the power of the channel selected by the video roaming hard handover;
and carrying out weighted summation according to the weight coefficient to obtain a roaming output signal. In a one-to-many embodiment: the weight coefficient of the soft switching combined receiving method adopts a calculation method as follows: roaming output signal s ═ (h0 × y0+ h1 × y1 …)/(| h0| 2 +|h1| 2 + …), where y0, y1, … are the received signals of the respective channels, and h0, h1, … are the channel parameters of the respective received channels. The channel parameter h is determined by knowing the training symbol(s) and the received signal (y), and is h ═ y/s. Compared with single-channel receiving, the problem of signal difference caused by signal shielding or multipath can be solved, and the stability and reliability of video transmission are improved. If only one-level video roaming hard handover is performed and soft handover is not set, the problem of signal difference caused by single-channel signal blocking or multipath cannot be solved. If only one-level video roaming soft handover is performed and hard handover is not set, all channels are jointly received, and some base station channels far away from the video transmitting device have no signals or other interference and noise signals, and are also added into weight joint reception, so that more noise is introduced, the signal-to-noise ratio of the signals is reduced, and the quality of the demodulated and decoded video is degraded. Only soft switching is performed, all channels participate in power calibration, time delay registration, joint receiving and the like, excessive software and hardware resources are occupied, and cost is high.
The invention also provides a near-zero time delay non-compression video roaming transmission system based on the method, which comprises a video sending device, a plurality of base stations and a roaming control center. The video transmitting device acquires a source video image, performs coding modulation on the source video image and transmits the source video image, and the plurality of base stations receive wireless signals transmitted by the video transmitting device in a multi-channel mode. The roaming control center performs multi-channel roaming hard switching based on video synchronization, selects a plurality of roaming hard switching channels to receive wireless signals, jointly receives signals of the plurality of roaming hard switching channels to obtain roaming output signals, and demodulates and decodes the roaming output signals to obtain source video images.
In a preferred scheme of the invention, the video transmitting device is a video acquisition device of a vehicle, transmits acquired signals to 6 channels of 3 base stations, selects two channels through roaming hard switching, jointly receives the two channels to obtain roaming output signals, and demodulates and decodes source videos. The distance between the base stations is 200 meters, the actually measured vehicle speed exceeds 80km/h, and the high-definition video quality exceeds 40 db.
Theoretically, each channel of each base station is independent, and the transmission range of the high-definition non-compression video can be expanded in an order of magnitude as long as one base station is arranged every 200-300 meters.
The scheme can expand the transmission coverage range of uncompressed video in a roaming network mode in a majority order. The invention realizes the roaming switching without delay, passively receives the signal analysis, then performs the hard switching selection of the roaming channel, does not repeatedly detect the signal, establishes the connection and the disconnection and other interactive steps. Based on the video synchronization characteristic, roaming switching is carried out in the time corresponding to the blanking area, and seamless switching is carried out. The hard switching method and the pre-selection antenna only realize the whole function of the hard switching selection channel and the partial function of the pre-selection channel, and other channels only simply carry out power detection. Compared with the method that all functions are realized in a full channel, the method has lower cost.
Compared with full hard switching, the two-stage switching has the advantages of increased reliability and stability and improved signal-to-noise ratio. The soft switching can solve the problem of signal difference caused by single-channel signal shielding or multipath, the multipath channels are jointly received, the good channel can compensate the problem of signal difference caused by single-channel shielding or multipath, and the signal power and the signal-to-noise ratio are improved.
Compared with full soft handover, the two-stage handover has higher performance. The hard switching can completely exclude other channels with low signal power, and other unselected channels have noise and interference.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A near-zero time delay non-compression video roaming transmission method is characterized by comprising the following steps:
the video sending device acquires a source video image, and performs coding modulation and transmission on the source video image;
the multi-base station multi-channel receives wireless signals transmitted by a video transmitting device;
based on video synchronization, performing multi-channel roaming hard handoff, and selecting a plurality of roaming hard handoff channels to receive wireless signals;
jointly receiving signals of a plurality of roaming hard switching channels to obtain roaming output signals;
and demodulating and decoding the roaming output signal to obtain a source video image.
2. The near-zero-latency uncompressed video roaming transmission method of claim 1, wherein the specific transmission method is as follows:
carrying out coding modulation on a source video image to generate a baseband signal;
and performing up-conversion on the baseband signal to obtain a radio frequency signal, and transmitting the radio frequency signal through a wireless transmitting module.
3. The near-zero-latency uncompressed video roaming transmission method of claim 1, wherein the receiving method is as follows: the multi-base station multi-channel receiving module receives the radio frequency signals and carries out down-conversion on the radio frequency signals to obtain base band signals.
4. The near-zero-latency uncompressed video roaming transmission method of claim 1, wherein the method for performing multi-channel roaming hard handoff is as follows:
detecting the power of multiple channels;
selecting a roaming hard switching channel according to the power of each channel, and performing hard switching on the channel within the time corresponding to a vertical blanking area or a horizontal blanking area of each frame of video image;
performing time delay registration on the roaming hard switching channel;
and performing power registration on the roaming hard switching channel.
5. The near-zero-latency non-compressed video roaming transmission method of claim 4, wherein a pre-selected channel is set in the multi-channel roaming hard handover process:
detecting and sequencing the power of a plurality of receiving channels, and selecting m receiving channels with the maximum power as preselected channels, wherein m is a positive integer;
and when the power of the pre-selection channel is larger than the threshold value, the pre-selection channel is used as a roaming hard switching channel.
6. The near-zero-latency non-compressed video roaming transmission method of claim 4, wherein,
the pre-selection channel is not set in the multi-channel roaming hard switching process:
and detecting and sequencing the power of a plurality of receiving channels, and selecting m receiving channels with the maximum power as roaming hard switching channels, wherein m is a positive integer.
7. The near-zero-delay uncompressed video roaming transmission method of claim 5 or 6, wherein the method for performing delay registration on the roaming hard handover channel comprises:
and according to the arrival time stamps of the frame headers of all the channels, subtracting the time stamps of the frame headers of other channels from the time stamp of the frame header of the channel with the maximum power, calculating the delay difference, and aligning the signals of all the channels by adjusting the delay.
8. The near-zero-delay uncompressed video roaming transmission method of claim 5 or 6, wherein the method for performing power registration on the roaming hard handover channel comprises:
and according to the power of each channel, adjusting the channel with the maximum power in the roaming hard switching channel to a preset target power, and setting the same power gain for other channels.
9. The near-zero-latency non-compressed video roaming transmission method of claim 1, wherein,
the method of obtaining a roaming output signal is as follows:
jointly receiving channels selected by video roaming hard switching to obtain output signals;
calculating a weight coefficient according to the power of the channel selected by the video roaming hard handover;
and carrying out weighted summation according to the weight coefficient to obtain a roaming output signal.
10. A near-zero-latency non-compressed video roaming transmission system based on the method of any one of claims 1-9, comprising a video transmitting device, a plurality of base stations and a roaming control center;
the video sending device acquires a source video image, performs coding modulation on the source video image and transmits the source video image;
a plurality of base stations receive wireless signals transmitted by the video transmitting device in a multi-channel manner;
the roaming control center performs multi-channel roaming hard switching based on video synchronization, selects a plurality of roaming hard switching channels to receive wireless signals, jointly receives signals of the plurality of roaming hard switching channels to obtain roaming output signals, and demodulates and decodes the roaming output signals to obtain source video images.
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