BeiDou-3 short message channel image acquisition, processing and display method and system

Abstract

The present invention provides a method and system for collecting, processing and displaying pictures of a BeiDou-3 short message channel, the method comprising: selecting an acquisition mode and a camera pan-tilt according to task requirements; adjusting the posture of each camera according to the acquisition mode, and setting shooting parameters; scheduling each camera to shoot synchronously through BeiDou, and converging to form a picture sequence; calculating the position of the target and the range of the visual field position; pre-joining the picture sequence based on the visual field, and determining the conversion mode of the picture according to the user's needs, the relationship between the TOI and NTOI data volumes in the pre-joined picture, or the relationship between the ROI and NROI data volumes, and the relationship between the number of pixels; implementing non-conversion of the picture, or converting it into a layered compressed picture, or converting it into a vector operation, and sending it in the form of a data packet, and displaying it after reverse transformation and visual field stitching. The present invention can meet a variety of task requirements, and can be used for the BeiDou-3 short message channel to realize the image transmission guarantee of emergency communication.

Description

Technical Field

[0001] The present invention relates to the technical field of picture acquisition and processing, and in particular to a method and system for acquiring, processing and displaying pictures of a BeiDou-3 short message channel. Background Art

[0002] At present, the industry is still in the research stage for the image transmission system based on the BeiDou-3 short message channel, and there is almost no research on its front-end acquisition method. The patent "A three-dimensional imaging method based on a multi-camera array" describes a three-dimensional imaging method based on a multi-camera array, which can effectively overcome the defects of the existing technology that the camera array cannot be well controlled in terms of consistency and the acquired images cannot be well spliced ​​and fused. However, the technical solution described in this patent is only a general method at present and is not applicable to the BeiDou-3 short message dedicated channel. Summary of the invention

[0003] The main technical problem solved by the present invention is to provide a method and system for collecting, processing and displaying pictures based on the BeiDou-3 short message channel.

[0004] According to a first aspect of the present invention, the present invention provides a method for collecting, processing and displaying pictures of a BeiDou-3 short message channel, comprising the following steps:

[0005] S1. Select the acquisition mode and the camera pan / tilt with known position coordinates;

[0006] S2. adjusting the posture of each camera in the camera gimbal according to the acquisition mode, and setting the shooting parameters of each camera;

[0007] S3, based on the shooting parameters, scheduling the cameras to shoot synchronously at the same time through the time reference Beidou, and aggregating the pictures taken by the cameras to form a picture sequence;

[0008] S4, calculating the position of the target and the position range of the field of view according to the known position coordinates of the camera gimbal, the posture of the camera, the shooting parameters, and the relative position of the target and the relative coordinates of the field of view in the image sequence;

[0009] S5, pre-joining the image sequence based on the field of view according to the acquisition mode to obtain a pre-joined image;

[0010] S6. Obtaining a relationship between the amount of TOI and NTOI data, or a relationship between the amount of ROI and NROI data, and a relationship between the number of pixels in the pre-joined image;

[0011] S7. Determine a conversion method of the pre-joined image according to user needs, a relationship between the TOI and NTOI data volumes, or a relationship between the ROI and NROI data volumes, and a relationship between the number of pixels in the pre-joined image;

[0012] S8, performing conversion processing on the pre-joined image according to the acquisition mode, the conversion mode, the position of the target, and the visual field position range to obtain a converted image, wherein the conversion processing is one of no conversion, conversion to a layered compressed image, and conversion to a vector image;

[0013] S9, sending the converted picture in the form of a data packet, and displaying it on a terminal device after being stitched together through the reverse transformation field of view.

[0014] Furthermore, the acquisition modes include: plane target mode, stereo target mode and wide-angle array mode.

[0015] Further, when the acquisition mode is the plane target mode, step S8 specifically includes:

[0016] Determine the amount of pre-joined image data I c Whether it meets the requirement of less than or equal to the maximum single transmission data volume of the BeiDou-3 regional short message I max , that is I c ≤I max Whether it is established, if so, directly adopt the pre-joined image for transmission without conversion;

[0017] Otherwise, it is further determined whether the data volume of TOI is greater than the data volume of NTOI, or the data volume of ROI is greater than the data volume of NROI, and the number of pixels of TOI is much smaller than the number of pixels of NTOI, or the number of pixels of ROI is much smaller than the number of pixels of NROI, that is, I TOI或ROI ≥I NTOI或NROI &&N TOI或ROI <<N NTOI或NROI Is it true? If so, compress the TOI and NTOI separately, or compress the ROI and NROI separately, to obtain a layered compressed image;

[0018] Otherwise, it is regarded as priority transmission, that is, I c >>I max , converting the pre-joined image into a two-dimensional plane vector image consisting of lines composed of starting points and end points and fill colors.

[0019] Further, when the acquisition mode is a stereo target mode, step S8 specifically includes:

[0020] The pre-joined image is converted into a three-dimensional vector image consisting of lines composed of a starting point and an end point and a filling color.

[0021] Further, when the acquisition mode is a wide-angle array mode, step S8 specifically includes:

[0022] The pre-joined image is converted into a hyperplane vector map consisting of lines composed of starting points and end points and a filling color.

[0023] Furthermore, the shooting parameters include: elevation angle, direction angle, viewing angle and lens focal length.

[0024] Furthermore, the picture sequence includes a plurality of pictures captured synchronously by a plurality of single cameras.

[0025] According to another aspect of the present invention, the present invention also provides a picture acquisition, processing and display system for a BeiDou-3 short message channel, comprising:

[0026] Mode selection module, acquisition module, position calculation module, field of view pre-stitching module, conversion module, inverse conversion field of view stitching module and display module;

[0027] The mode selection module is connected to the acquisition module, the acquisition module is respectively connected to the position calculation module and the field of view pre-stitching module, the position calculation module and the field of view pre-stitching module are both connected to the conversion module, the conversion module is connected to the inverse conversion field of view stitching module, and the inverse conversion field of view stitching module is connected to the display module;

[0028] The mode selection module is used to select an acquisition mode, select a camera pan / tilt at a known position coordinate, adjust the posture of each camera in the camera pan / tilt according to the acquisition mode, and set the shooting parameters of each camera;

[0029] The acquisition module is used to schedule the cameras to shoot synchronously at the same time based on the shooting parameters through the Beidou time reference, and to aggregate the pictures taken by the cameras to form a picture sequence;

[0030] The position calculation module is used to calculate the position of the target and the relative coordinates of the field of view according to the known position coordinates of the camera gimbal, the posture of the camera, the shooting parameters, and the relative position of the target and the relative coordinates of the field of view in the image sequence;

[0031] The field of view pre-stitching module is used to pre-stitch the image sequence based on the field of view according to the acquisition mode to obtain a pre-stitched image;

[0032] The conversion module is used to obtain the relationship between the TOI and NTOI data volumes, or the relationship between the ROI and NROI data volumes, and the relationship between the number of pixels in the pre-joined image, and determine the conversion method of the image according to the acquired information and user needs, and perform conversion processing on the pre-joined image according to the acquisition mode, the conversion method, the position of the target, and the field of view position range to obtain a converted image, wherein the conversion processing is one of performing no conversion, converting to a layered compressed image, and converting to a vector image;

[0033] The inverse transformation vision stitching module is used to send the transformed picture in the form of a data packet, and obtain a two-dimensional plane vector map, a three-dimensional stereo vector map, or a hyperplane vector map through inverse transformation vision stitching;

[0034] The display module is used to display the two-dimensional plane vector image, the three-dimensional stereoscopic vector image, or the super plane vector image on the terminal device.

[0035] The beneficial effects brought by the technical solution provided by the present invention are:

[0036] (1) According to task requirements, the image acquisition modes are divided into plane target mode, stereo target mode and wide-angle array mode.

[0037] (2) Synchronize the automatic operation of different cameras using the BeiDou time reference.

[0038] (3) Using the known absolute position, elevation angle, azimuth angle, viewing angle, lens focal length in the unified coordinate system of the camera and the relative position of the target in the image sequence, the absolute position information of the target at a certain moment is calculated.

[0039] (4) Considering the maximum amount of message data that can be transmitted in a single BeiDou-3 short message, the pre-assembled image can be processed in layers or converted into a vector image during the AI ​​processing.

[0040] (5) Eventually, different terminals can be used to display two-dimensional vector graphics, three-dimensional vector graphics, or super-plane vector graphics. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0042] Figure 1 It is an execution flow chart of a method for collecting, processing and displaying pictures based on the BeiDou-3 short message channel in an embodiment of the present invention;

[0043] Figure 2 is a schematic diagram of target acquisition in a plane target mode in an embodiment of the present invention;

[0044] Figure 3 is the image of the target object of each camera in the camera array in the plane target mode in the embodiment of the present invention;

[0045] Figure 4 is a schematic diagram of pre-joining in a plane target mode in an embodiment of the present invention;

[0046] Figure 5 is a schematic diagram of target acquisition in a stereo target mode in an embodiment of the present invention;

[0047] Figure 6 is the image of the target object of each camera in the camera array in the stereo target mode in the embodiment of the present invention;

[0048] Figure 7 is a single camera field of view sequence in a stereo target mode in an embodiment of the present invention;

[0049] Figure 8 is a schematic diagram of pre-joining in a stereoscopic target mode in an embodiment of the present invention;

[0050] Fig. 9 is a schematic diagram of scene acquisition in wide-angle array mode in an embodiment of the present invention;

[0051] Fig.10 is an image of a scene captured in a wide-angle array mode in an embodiment of the present invention;

[0052] Fig.11 is a field of view sequence of a single camera in the wide-angle array mode in an embodiment of the present invention;

[0053] Fig.12 is a schematic diagram of pre-joining in a wide-angle array mode in an embodiment of the present invention;

[0054] Fig.13 It is a framework diagram of a picture acquisition, processing and display system based on the BeiDou-3 short message channel in an embodiment of the present invention;

[0055] In the accompanying drawings: 1-planar camera array, 2-array field of view, 3-single camera, 4-actual target object, 5-image of the target object in a single camera, 6-single camera field of view, 7-array combined field of view, 8-image of the target object in the array, 9-single camera field of view sequence, 10-image of the target object formed by the combination of camera arrays, 11-wide-angle camera array, 12-single camera field of view data sequence, 13-mapping of data to images. DETAILED DESCRIPTION

[0056] Various exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0057] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0058] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0059] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0060] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0061] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0062] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0063] Example 1, reference Figure 1 This embodiment provides a method for collecting, processing and displaying pictures of a BeiDou-3 short message channel, comprising the following steps:

[0064] S1. Select the acquisition mode according to the task requirements and select the camera gimbal at a known position coordinate;

[0065] The acquisition modes include: plane target mode, stereo target mode and wide-angle array mode.

[0066] S2. Adjust the posture of each camera according to the acquisition mode, and set the shooting parameters of each camera;

[0067] Specific shooting parameters include: elevation angle, direction angle, viewing angle and lens focal length.

[0068] S3, based on the shooting parameters, scheduling the cameras to shoot synchronously at the same time through the time reference Beidou, and aggregating the pictures taken by the cameras to form a picture sequence;

[0069] It should be noted that the picture sequence in this embodiment includes multiple pictures taken synchronously by multiple single cameras;

[0070] S4, calculating the position of the target and the position range of the field of view according to the known position coordinates of the camera gimbal, the posture of the camera, the shooting parameters, and the relative position of the target and the relative coordinates of the field of view in the image sequence;

[0071] S5, pre-joining the image sequence based on the field of view according to the acquisition mode to obtain a pre-joined image;

[0072] S6, obtaining a relationship between the amount of TOI (target of interest) and NTOI (non-target of interest) data, or a relationship between the amount of ROI (region of interest) and NROI (non-region of interest) data, and a relationship between the number of pixels in the pre-joined image;

[0073] S7. Determine a conversion method of the image according to user needs, a relationship between the TOI and NTOI data volumes, or a relationship between the ROI and NROI data volumes, and a relationship between the number of pixels in the pre-joined image;

[0074] S8, performing conversion processing on the pre-joined image according to the acquisition mode, the conversion mode, the position of the target, and the visual field position range to obtain a converted image, wherein the conversion processing is one of no conversion, conversion to a layered compressed image, and conversion to a vector image;

[0075] S9, sending the converted picture in the form of a data packet, and displaying it on a terminal device after being stitched together through the reverse transformation field of view.

[0076] In this embodiment, for different acquisition modes, steps S1-S9 can be further specifically described as follows:

[0077] Mode 1: Reference Figure 2-4 When the acquisition mode is "plane target mode", select the camera gimbal at a known position coordinate, set the shooting parameters and camera posture of each camera, form a camera array, and schedule each camera to shoot at the same time through the time reference Beidou time to form several single camera fields of view and target pictures, also known as picture sequences. Use the artificial intelligence (AI) processor to pre-splice multiple single camera fields of view and target pictures according to the "plane target mode". At the same time, use the known position coordinates, elevation angles, azimuth angles and other parameters of multiple cameras to calculate the TOI position and ROI range. According to user needs, the pre-spliced ​​pictures are converted through the AI ​​processor.

[0078] Specifically, the amount of pre-joined picture data I is determined c Whether it meets the requirement of less than or equal to the maximum single transmission data volume of the BeiDou-3 regional short message I max , that is I c ≤Imax Whether it is established, if so, directly adopt the pre-joined image for transmission without conversion;

[0079] Otherwise, further determine whether the data volume (I TOI ) is greater than the amount of data in NTOI (I NTOI ), or the amount of data for ROI (I ROI ) is larger than the amount of data in NROI (I NROI ), and the number of pixels of TOI (N TOI ) is much smaller than the number of pixels of NTOI (N NTOI ), or the number of pixels of ROI (N ROI ) is much smaller than the number of pixels of NROI (N NROI ), i.e. I TOI或ROI ≥I NTOI或NROI &&N TOI或ROI <<N NTOI或NROI Is it true? If so, it complies with the hierarchical compression principle, and the TOI and NTOI are compressed separately, or the ROI and NROI are compressed separately to obtain a hierarchical compressed image;

[0080] Otherwise, it is regarded as priority transmission, that is, I c >>I max , converting the pre-joined image into a two-dimensional plane vector image consisting of lines composed of starting points and end points and fill colors.

[0081] The two-dimensional plane vector diagram is transmitted as a data packet, and at the receiving end, the data is restored and displayed on a display terminal.

[0082] Mode 2: Reference Figure 5-8 When the acquisition mode is "stereo target mode", select the camera gimbal at a known position coordinate, set the shooting parameters and camera posture of each camera, form a camera array, and schedule each camera to shoot at the same time through the time reference Beidou time to form several single camera fields of view and target pictures, also known as picture sequences. The artificial intelligence (AI) processor pre-joins multiple single camera fields of view and target pictures according to the "stereo target mode". At the same time, the known position coordinates, elevation angle, azimuth angle and other parameters of multiple cameras are used to calculate the TOI position and ROI range. According to user needs, combined with pictures and positions, the pre-joined pictures are converted through the AI ​​processor. The joined picture will be converted into a three-dimensional spatial vector map consisting of lines and fill colors composed of the starting point and the end point. After data transmission, the data can be restored at the receiving end, and finally the three-dimensional spatial vector map display is realized through the display terminal.

[0083] Mode 3: Reference Figure 9-12When the acquisition mode is "wide-angle array mode", select the camera gimbal at a known position coordinate, set the shooting parameters and camera posture of each camera, form a camera array, and schedule each camera to shoot at the same time through the time reference Beidou time to form several single camera field of view and target pictures, also known as picture sequences. Through the artificial intelligence (AI) processor, multiple single camera field of view and target pictures are pre-stitched according to the "wide-angle array mode". At the same time, the known position coordinates, elevation angle, azimuth angle and other parameters of multiple cameras are used to calculate the TOI position and ROI range. According to user needs, combined with pictures and positions, the pre-stitched pictures are converted through the AI ​​processor. The stitched picture will be converted into a hyperplane space vector diagram consisting of lines and fill colors composed of the starting point and the end point. After data transmission, the data can be restored at the receiving end, and finally the hyperplane space vector diagram can be displayed through the display terminal.

[0084] Example 2, reference Fig.13 , This embodiment provides a picture acquisition, processing and display system for the BeiDou-3 short message channel, including: a mode selection module, an acquisition module, a position calculation module, a field of view pre-stitching module, a conversion module, an inverse conversion field of view stitching module and a display module;

[0085] The mode selection module is connected to the acquisition module, the acquisition module is respectively connected to the position calculation module and the field of view pre-stitching module, the position calculation module and the field of view pre-stitching module are both connected to the conversion module, the conversion module is connected to the inverse conversion field of view stitching module, and the inverse conversion field of view stitching module is connected to the display module;

[0086] The mode selection module is used to select an acquisition mode, select a camera pan / tilt at a known position coordinate, adjust the posture of each camera in the camera pan / tilt according to the acquisition mode, and set the shooting parameters of each camera;

[0087] The acquisition module is used to schedule the cameras to shoot synchronously at the same time based on the shooting parameters through the Beidou time reference, and to aggregate the pictures taken by the cameras to form a picture sequence;

[0088] The position calculation module is used to calculate the position of the target and the relative coordinates of the field of view according to the known position coordinates of the camera gimbal, the posture of the camera, the shooting parameters, and the relative position of the target and the relative coordinates of the field of view in the image sequence;

[0089] The field of view pre-stitching module is used to pre-stitch the image sequence based on the field of view according to the acquisition mode to obtain a pre-stitched image;

[0090] The conversion module is used to obtain the relationship between the TOI and NTOI data volumes, or the relationship between the ROI and NROI data volumes, and the relationship between the number of pixels in the pre-joined image, and determine the conversion method of the image according to the acquired information and user needs, and perform conversion processing on the pre-joined image according to the acquisition mode, the conversion method, the position of the target, and the field of view position range to obtain a converted image, wherein the conversion processing is one of performing no conversion, converting to a layered compressed image, and converting to a vector image;

[0091] The inverse transformation vision stitching module is used to send the transformed picture in the form of a data packet, and obtain a two-dimensional plane vector map, a three-dimensional stereo vector map, or a hyperplane vector map through inverse transformation vision stitching;

[0092] The display module is used to display the two-dimensional plane vector image, the three-dimensional stereoscopic vector image, or the super plane vector image on the terminal device.

[0093] The beneficial effects brought about by the specific implementation of the present invention are:

[0094] (1) Mode selection stage: According to the task requirements, the camera gimbal with multiple independent known positions (longitude, latitude and elevation), time and posture in space is controlled and dispatched through automatic remote control or manual mode selection, and the shooting parameters such as the elevation angle, azimuth angle, viewing angle and lens focal length of the camera in the gimbal are set.

[0095] (2) During the acquisition phase, multiple cameras can shoot synchronously using the BeiDou Time (BDT) time standard, and the captured images can be aggregated.

[0096] (3) In the position calculation stage, the AI ​​processor calculates the target's position and field of view based on the known camera position, elevation angle, azimuth angle, viewing angle, and lens focal length, and the relative position of the target in the image sequence.

[0097] (4) In the preprocessing stage, the AI ​​processor pre-joins the fields of view of multiple converged images, and determines the conversion method based on the relationship between the TOI (or ROI) and NTOI (or NROI) data volumes and the relationship between the number of pixels in the pre-joined images.

[0098] (5) During the processing phase, the AI ​​processor can describe the pre-assembled image as a spatial vector graph consisting of lines and fill colors composed of starting and ending points at exact locations, which greatly saves the space of the original image that is described bit by bit.

[0099] (6) Display phase: Display the 2D vector graph, 3D vector graph or 2.5D vector graph on a display device at the data receiving end.

[0100] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0101] The serial numbers of the embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In a unit claim that lists several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order and these words may be interpreted as identifiers.

[0102] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for collecting, processing and displaying pictures of BeiDou-3 short message channel, characterized in that: The following steps are involved: S1. Select the acquisition mode and the camera pan / tilt at a known position; The acquisition modes include: plane target mode, stereo target mode and wide-angle array mode; S2. adjusting the posture of each camera in the camera gimbal according to the acquisition mode, and setting the shooting parameters of each camera; S3, based on the shooting parameters, scheduling the cameras to shoot synchronously at the same time through the time reference Beidou, and aggregating the pictures taken by the cameras to form a picture sequence; S4, calculating the position of the target and the range of the ROI according to the known position coordinates of the camera gimbal, the posture of the camera, the shooting parameters, and the relative position of the target and the relative coordinates of the field of view in the image sequence; S5, pre-joining the image sequence based on the field of view according to the acquisition mode to obtain a pre-joined image; S6. Obtaining a relationship between the amount of TOI and NTOI data in the pre-joined image, or a relationship between the amount of ROI and NROI data, and a relationship between the number of TOI and NTOI pixels in the pre-joined image, or a relationship between the number of ROI and NROI pixels; S7. Determine a conversion method of the pre-joined image according to user needs, the relationship between the data amounts, and the relationship between the numbers of pixels; S8, performing conversion processing on the pre-joined image according to the acquisition mode, the conversion mode, the position of the target, and the range of the ROI to obtain a converted pre-joined image; the conversion processing is one of not converting, converting to a layered compressed image, and converting to a vector image; S9, sending the converted pre-stitched picture in the form of a data packet, and displaying it on a terminal device after being stitched through a reverse transformation field of view; When the acquisition mode is the plane target mode, step S8 specifically includes: Determine the amount of pre-joined image data Whether it meets the requirement of less than or equal to the maximum single transmission data volume of the BeiDou-3 regional short message ,Right now Whether it is established, if so, directly adopt the pre-joined image for transmission without conversion; Otherwise, it is further determined whether the data volume of TOI is greater than or equal to the data volume of NTOI, or the data volume of ROI is greater than or equal to the data volume of NROI, and the number of pixels of TOI is much smaller than the number of pixels of NTOI, or the number of pixels of ROI is much smaller than the number of pixels of NROI, that is, Is it true? If so, compress the TOI and NTOI separately, or compress the ROI and NROI separately, to obtain a layered compressed image; Otherwise, it is considered as priority transmission, i.e. , converting the pre-joined image into a two-dimensional plane vector image consisting of lines composed of starting points and end points and fill colors.

2. The method for collecting, processing and displaying pictures of the BeiDou-3 short message channel as claimed in claim 1, characterized in that: When the acquisition mode is a stereo target mode, step S8 specifically includes: The pre-joined image is converted into a three-dimensional vector image consisting of lines composed of a starting point and an end point and a filling color.

3. The method for collecting, processing and displaying pictures of the BeiDou-3 short message channel as claimed in claim 1, characterized in that: When the acquisition mode is the wide-angle array mode, step S8 specifically includes: The pre-joined image is converted into a hyperplane vector map consisting of lines composed of starting points and end points and a filling color.

4. The method for collecting, processing and displaying pictures of the BeiDou-3 short message channel as claimed in claim 1, characterized in that: The shooting parameters include: elevation angle, direction angle, viewing angle and lens focal length.

5. The method for collecting, processing and displaying pictures of the BeiDou-3 short message channel as claimed in claim 1, characterized in that: The picture sequence includes a plurality of pictures taken synchronously by a plurality of single cameras.

6. A picture acquisition, processing and display system for the BeiDou-3 short message channel, characterized in that: include: Mode selection module, acquisition module, position calculation module, field of view pre-stitching module, conversion module, inverse conversion field of view stitching module and display module; The mode selection module is connected to the acquisition module, the acquisition module is respectively connected to the position calculation module and the field of view pre-stitching module, the position calculation module and the field of view pre-stitching module are both connected to the conversion module, the conversion module is connected to the inverse conversion field of view stitching module, and the inverse conversion field of view stitching module is connected to the display module; The mode selection module is used to select an acquisition mode, select a camera pan / tilt at a known position coordinate, adjust the posture of each camera in the camera pan / tilt according to the acquisition mode, and set the shooting parameters of each camera; The acquisition modes include: plane target mode, stereo target mode and wide-angle array mode; The acquisition module is used to schedule the cameras to shoot synchronously at the same time based on the shooting parameters through the Beidou time reference, and to aggregate the pictures taken by the cameras to form a picture sequence; The position calculation module is used to calculate the position of the target and the range of the ROI according to the known position coordinates of the camera gimbal, the posture of the camera, the shooting parameters, and the relative position of the target and the relative coordinates of the field of view in the image sequence; The field of view pre-stitching module is used to pre-stitch the image sequence based on the field of view according to the acquisition mode to obtain a pre-stitched image; The conversion module is used to obtain the relationship between the TOI and NTOI data volumes, or the relationship between the ROI and NROI data volumes, and the relationship between the TOI and NTOI pixel numbers, or the relationship between the ROI and NROI pixel numbers in the pre-joined picture, and determine the conversion method of the pre-joined picture according to user needs, the relationship between the data volumes, and the relationship between the pixel numbers, and perform conversion processing on the pre-joined picture according to the acquisition mode, the conversion method, the position of the target, and the range of the ROI to obtain a converted picture, wherein the conversion processing is one of not converting, converting to a hierarchically compressed picture, and converting to a vector map operation; The inverse transformation field of view stitching module is used to send the converted pictures in the form of data packets and stitch them through the inverse transformation field of view; The display module is used to display the image after the reverse transformation of the visual field on the terminal device; When the acquisition mode is a planar target mode, performing conversion processing on the pre-joined image according to the acquisition mode, the conversion mode, the position of the target, and the range of the ROI to obtain the converted pre-joined image specifically includes: Determine the amount of pre-joined image data Whether it meets the requirement of less than or equal to the maximum single transmission data volume of the BeiDou-3 regional short message ,Right now Whether it is established, if so, directly adopt the pre-joined image for transmission without conversion; Otherwise, it is further determined whether the data volume of TOI is greater than or equal to the data volume of NTOI, or the data volume of ROI is greater than or equal to the data volume of NROI, and the number of pixels of TOI is much smaller than the number of pixels of NTOI, or the number of pixels of ROI is much smaller than the number of pixels of NROI, that is, Is it true? If so, compress the TOI and NTOI separately, or compress the ROI and NROI separately, to obtain a layered compressed image; Otherwise, it is considered as priority transmission, i.e. , converting the pre-joined image into a two-dimensional plane vector image consisting of lines composed of starting points and end points and fill colors.

Images