A data processing method for wireless transmission of an airborne photoelectric system

Abstract

The application provides a data processing method for wireless transmission of an airborne photoelectric system, comprising: a sending end data processing method, which transmits the real-time generated investigation images and information of the airborne photoelectric system to a ground control station by using an investigation image and information packeting method to divide the investigation images and information into small data packets; the investigation image and information packeting method comprises: processing the same frame investigation image of the airborne photoelectric system into identification information, and obtaining the state information of the airborne photoelectric system corresponding to the investigation image; dividing each frame investigation image of the airborne photoelectric system into x small data packets; and a ground control station data processing method, which reorders, packetizes and analyzes the received small data packets; the application transmits the investigation images and information with indefinite length structure into small data packets according to rules in real time, the ground control station receives the wireless transmission small data packets in real time, and dynamically orders the small data packets generated by the same frame image and information to splice and restore into complete investigation images and information.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicle payload wireless communication, and particularly relates to a data processing method for wireless transmission of an airborne photoelectric system. BACKGROUND

[0002] The airborne photoelectric system is an important payload for target detection of an unmanned aerial vehicle. The detected images and information are transmitted to a ground control station through a wireless terminal device. The ground control station analyzes and processes the images and information, and controls the airborne photoelectric system to detect a target area through the wireless terminal device.

[0003] The wireless two-way communication data of the wireless terminal device includes visible light color and grayscale images, infrared thermal image, low-light night vision image, image recognition information, photoelectric system control data and state information detected by the photoelectric system in real time. The wireless two-way communication data has high requirements for transmission real-time performance and security.

[0004] At present, the application scenarios of the airborne photoelectric system are different, and the design schemes and indexes are different. In addition, the types and formats of the detected images are various. With the continuous development of image artificial intelligence information recognition technology, the image and recognition information data are large and have variable lengths. The wireless transmission protocol and method change frequently, which is not conducive to the design of the transmission mechanism. In particular, small and medium-sized unmanned aerial vehicles usually transmit various types of airborne information wirelessly. The wireless transmission bandwidth allocated to the airborne photoelectric system is limited, which easily leads to transmission errors, congestion and other problems, affecting the security and causing adverse factors for the normal execution of the detection task of the photoelectric system. In addition, the detected images and the image recognition information need to be corresponded in the data transmission process. However, the traditional transmission mechanism transmits the detected images and the image recognition information from different protocols and paths. It is difficult for the ground control station to complete the correspondence and analysis of the detected images and the image recognition information in real time. Therefore, a complex task needs to be designed and more computing resources need to be consumed for analysis. SUMMARY

[0005] The present application aims to solve the problem that the detected images and the image recognition information cannot be corresponded and analyzed in real time in the data transmission process in the prior art. A data processing method for wireless transmission of an airborne photoelectric system is provided. The detected images and information with variable lengths are packaged into small data packets according to rules in real time, and the ground control station receives the small data packets transmitted wirelessly and dynamically sorts the small data packets generated for the same frame of image and information to restore the complete detected images and information.

[0006] To achieve the above-mentioned purpose, the technical solution provided by the present application is as follows:

[0007] A data processing method for wireless transmission of an airborne photoelectric system, comprising:

[0008] The sending end data processing method comprises the following steps: the real-time generated reconnaissance image and information of the airborne photoelectric system are divided into small data packets by using a reconnaissance image and information packetizing method and are transmitted to a ground control station; wherein, the reconnaissance image and information packetizing method comprises: a same frame reconnaissance image of the airborne photoelectric system is processed into corresponding identification information of the reconnaissance image and state information of the airborne photoelectric system which obtains the corresponding reconnaissance image; each frame reconnaissance image of the airborne photoelectric system is divided into x small data packets; specifically, each small data packet is a variable-length data packetized from the reconnaissance image and identification information, state information according to a rule, and the variable-length data packet is of fixed bytes + n bytes; the fixed bytes comprise: a synchronization byte, a data packet number, an image classification number, identification information and state information, a small data packet number, a small data packet length and a tail character; the variable-length data comprises: an image generated by the airborne photoelectric system, identification information of the image and state information of the airborne photoelectric system;

[0009] The ground control station data processing method comprises the following steps: the received small data packets are reordered, packetized and parsed according to a data processing method; wherein, the data processing method comprises: a data packet number corresponding to the small data packet is inquired, the data packet numbers are sorted by using a bubble sorting method, the parsed variable-length data is inserted into a sorting sequence, and the number of packets participating in the bubble sorting under the same data packet number is counted, and it is judged whether the number of packets is equal to x; if yes, the information of a frame reconnaissance image is completed to be spliced, and the identification information and the state information are parsed.

[0010] As a further limitation of the application, the bytes of the small data packet in the sending end data processing method are as follows:

[0011] a synchronization byte, a data packet number, an image classification number, identification information and state information, a small data packet number, a small data packet length, image data filled in a variable-length structure and a tail character.

[0012] As a further limitation of the application, the sending end data processing method specifically comprises:

[0013] Step (1): the first four bytes of the small data packet are defined as a synchronization byte of an unsigned char type

[0014] 0xCAHBMCZD;

[0015] Step (2): the fifth and sixth bytes of the small data packet are a data packet number of an unsigned char type, wherein: a unique number corresponding to each frame image and information generated by the airborne photoelectric system in real time is added by 1 successively to obtain a data packet number of the next frame image and information;

[0016] Step (3) the 7th and 8th bytes of the small data packet are image classification numbers, wherein: visible light color image, generating number 0x0011; visible light grayscale image, generating number 0x0022; infrared thermal image, generating number 0x0033; low-light night vision image, generating number 0x0044; and other image categories are defined by the number autonomously;

[0017] Step (4) the 9th to 137th bytes of the small data packet are identification information of the investigation image, wherein the identification information includes target number information, classification information and posture information generated by real-time image target identification of the airborne photoelectric system;

[0018] Step (5) the 138th to 202nd bytes of the small data packet are state information of the airborne photoelectric system, wherein the state information includes angle information, field of view angle information, system mode information and ranging distance value information of the airborne photoelectric system;

[0019] Step (6) the 203rd to 204th bytes of the small data packet are the number of segmented small data packets, the small data packet byte length is dynamically calculated by formula (1), and the small data packet number is dynamically calculated by formula (2); wherein formula (1) is: small data packet byte length = wireless transmission bandwidth / transmission baud rate-fixed length byte; and formula (2) is: small data packet number = (investigation image byte + fixed length byte) / small data packet byte;

[0020] Step (7) the 205th to 206th bytes of the small data packet are small data packet numbers; wherein the small data packet numbers are automatically accumulated, and the maximum value of the small data packet accumulation is the small data packet number calculated in the step (6);

[0021] Step (8) the 207th to 208th bytes of the small data packet are the small data packet length calculated by formula (3); wherein formula (3) is: small data packet byte length = wireless transmission bandwidth / transmission baud rate-fixed byte length;

[0022] Step (9) the 209th byte to the Nth byte of the small data packet are image data filled in a variable length structure, and the image data generated by the airborne photoelectric system in real time is segmented and filled in cycles according to the small data packet length calculated in the step (8); wherein the filling times are the small data packet number calculated in the step (6);

[0023] Step (10) 4 bytes are generated as tail characters 0xCA0KSMZD of the small data packet, and the tail characters are the check marks of the small data packet.

[0024] As a further limitation of the application, the received small data packet is reordered, packaged and parsed according to the data processing method, comprising:

[0025] Step (1) sequentially reads 4 bytes from the buffer area, judges whether it is a synchronization byte 0xCAHBMCZD, if not, sequentially reads 4 bytes from the next byte to judge, if yes, enters step (2);

[0026] Step (2) sequentially reads 2 bytes and parses them as data packet numbers, each data packet number corresponds to a frame of image and information, and the data packet number is used as the number of the buffer area;

[0027] Step (3) sequentially reads 2 bytes and parses them as image classification, which indicates that the current photoelectric system investigation image is a visible light image, an infrared thermal image or a low-light night vision image;

[0028] Step (4) sequentially reads 128 bytes of identification information and 64 bytes of state information, the identification information is the target number, classification and posture information of the image identification of the current data packet transmission, which is used to realize the synchronization alignment of the image and the identification information, and the state information is the reconnaissance information of the airborne photoelectric system fed back to the ground control station in real time, including the field of view angle of the photoelectric system, the system mode and the ranging value;

[0029] Step (5) sequentially reads 2 bytes of small data packet number and 2 bytes of small data packet number and stores them;

[0030] Step (6) sequentially reads 2 bytes of image data length, parses and records, and the image data length is the image data byte length filled by the small data packet according to the wireless bandwidth, rate, one frame of image and information data dynamically calculated;

[0031] Step (7) according to the image data length parsed in step (6), the image data is cyclically read and cached;

[0032] Step (8) sequentially reads the last 4 bytes of tail characters, judges whether it is 0xCA0KSMZD, if yes, enters step (9), otherwise, continues to read the buffer area data from step (1);

[0033] Step (9) queries the buffer area of the data packet number corresponding to the small data packet in the buffer area, sorts the small data packet numbers by using the bubble sorting method, inserts the image data parsed in step (7) into the sorting sequence, simultaneously counts the number of packets participating in the bubble sorting under the same data packet number, judges whether it is equal to the small data packet number parsed in step (5), if yes, a complete frame of image data is spliced, and the ground control station parses the image according to the image classification parsed in step (3); if not, continues to sequentially read and parse the data from step (1).

[0034] As a further limitation of the application, in the sending end data processing method, each frame of the investigation image of the airborne photoelectric system is divided into x small data packets, specifically:

[0035] The wireless transmission parameters assigned to the airborne photoelectric system are used to dynamically calculate the length of the split small data packet, prevent the large data volume of the reconnaissance image and information from causing packet loss or congestion, and achieve dynamic adaptation to the wireless transmission requirements.

[0036] As a further limitation of the application, the ground control station data processing method further comprises:

[0037] The photoelectric reconnaissance image and identification information and state information are packaged together, and when the ground control station receives the small data packet, the current reconnaissance image and information are automatically synchronized and aligned.

[0038] As a further limitation of the application, when the ground control station analyzes the small data packet: the analyzed data packet number, small data packet number and number are used as query and processing parameters, the real-time sorting of all small data packets under the analyzed data packet number is performed, and the occasional inversion and out-of-order of the data packet sequence due to the multiple path levels of the wireless transmission or receiving end is prevented.

[0039] The application has the following advantages:

[0040] The application transmits the reconnaissance image and information with indefinite length structure into small data packets in real time according to rules, the ground control station receives the small data packets transmitted wirelessly in real time, and dynamically sorts the small data packets generated for the same frame image and information to restore the complete reconnaissance image and information.

[0041] Additional aspects and advantages of the application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and / or additional aspects and advantages of the application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0043] Figure 1 The application provides a data processing method block diagram for wireless transmission of an airborne photoelectric system.

[0044] Figure 2 The application provides a sending end data processing method flowchart.

[0045] Figure 3 The application provides a method diagram for packaging reconnaissance image and information into small data packets.

[0046] Figure 4 The application provides a ground control station data processing method flowchart. DETAILED DESCRIPTION

[0047] Embodiments of the present application are described in detail below, which are exemplary and intended to explain the present application, and cannot be understood as a limitation of the present application.

[0048] In order to overcome the problems of wireless transmission of reconnaissance image and information between the current airborne photoelectric system and the ground control station, and the problems of easy packet loss, congestion, and error code when the data volume is large and real-time changes and is limited by bandwidth, the embodiment of the present application provides a data processing method for wireless transmission of an airborne photoelectric system. In addition, the data processing method of the embodiment of the present application affects real-time synchronous transmission of data when external electromagnetic interference occurs. The traditional reconnaissance image and identification information are transmitted according to different protocols and paths, and it is difficult for the software of the ground control station to receive the reconnaissance image and identification information to be synchronized and aligned and analyzed, and due to different receiving hierarchical paths, problems such as occasional data packet sequence inversion and out-of-order occur. The data processing method for wireless transmission of an airborne photoelectric system of the embodiment of the present application provides safe and reliable real-time variable-length data for wireless transmission of an airborne photoelectric system.

[0049] Please refer to Figure 1 The embodiment of the present application provides a data processing method for wireless transmission of an airborne photoelectric system, which comprises: (1) a sending end data processing method, and (2) a ground control station data processing method, wherein:

[0050] The sending end data processing method comprises: using a reconnaissance image and information packetization method to divide the reconnaissance image and information generated by the airborne photoelectric system in real time into small data packets for transmission to the ground control station; wherein: the reconnaissance image and information packetization method comprises: processing the same frame of reconnaissance image of the airborne photoelectric system into identification information corresponding to the reconnaissance image, and obtaining state information of the airborne photoelectric system corresponding to the reconnaissance image; and dividing each frame of reconnaissance image of the airborne photoelectric system into x small data packets. Preferably, the identification information of the embodiment of the present application is target classification, number, posture, and the like generated by the airborne photoelectric system in identification processing of each frame of image; and the photoelectric state information of the embodiment of the present application is angle, field of view, system mode, and the like of the airborne photoelectric system.

[0051] The photoelectric system reconnaissance image data of the embodiment of the present application dynamically changes in size according to different image categories and systems, and the real-time changes of the reconnaissance scene. The embodiment of the present application divides the data into n small data packets according to the bandwidth, rate, image and information data size, and the like allocated to the airborne photoelectric system by the carrier aircraft during wireless transmission. The fixed bytes of the embodiment of the present application are composed of synchronization bytes, data packet numbers, image classification numbers, identification information and state information, the number, number, and length of the divided small data packets, and tail characters, and the variable-length data is generated by the image and information generated by the photoelectric system in real time, the wireless transmission bandwidth, and the baud rate or rate calculation.

[0052] Please refer to Figure 3, specifically: each small data packet is a variable-length data packet composed of a fixed byte and n bytes of variable-length data according to rules, the variable-length data packet has an indefinite length structure; the fixed byte includes: a synchronization byte, a data packet number, an image classification number, identification information and state information, the number of segmented small data packets, the number of small data packets, the length of the small data packet, and a tail character; the variable-length data includes: an image generated by the airborne optoelectronic system in real time, identification information of the image, and state information of the airborne optoelectronic system.

[0053] Please continue to refer to Figure 3 In the above-mentioned data processing method of the sending end of the embodiment of the application, the bytes of the small data packet are in turn: a synchronization byte, a data packet number, an image classification number, identification information and state information, the number of segmented small data packets, a small data packet number, a small data packet length, image data filled by a variable-length structure, and a tail character.

[0054] Please refer to Figure 2 and Figure 3 The above-mentioned data processing method of the sending end of the embodiment of the application specifically includes:

[0055] Step (1) The first four bytes of the small data packet are defined as a synchronization byte of the unsigned char type

[0056] 0xCAHBMCZD; The synchronization byte generates a 4-byte synchronization byte, which is used for information transmission synchronization.

[0057] Step (2) The fifth and sixth bytes of the small data packet are a data packet number of the unsigned char type, wherein: the airborne optoelectronic system generates a unique number corresponding to each frame of image and information in real time, and the data packet number of the next frame of image and information is sequentially increased by 1; specifically, according to the process of generating the detection image and information in real time by the airborne optoelectronic system, a 2-byte data packet number is generated, and the same frame of detection image and information has a unique data packet number, which prevents the data received by the ground control station software in the data wireless transmission process from being unable to distinguish different frames of detection image and information.

[0058] Step (3) The seventh and eighth bytes of the small data packet are an image classification number, wherein: for a visible light color image, the number 0x0011 is generated; for a visible light grayscale image, the number 0x0022 is generated; for an infrared thermal image, the number 0x0033 is generated; for a low-light night vision image, the number 0x0044 is generated; and for other image categories, the number is defined by the user; specifically, a 2-byte image classification number is generated, different video sensors designed by different airborne optoelectronic systems produce different image categories, and the 2-byte image classification number is used for distinguishing.

[0059] Step (4) the 9th to the 137th byte of the small data packet is the identification information of the investigation image, wherein the identification information includes: the target number information, classification information and posture information generated by the real-time image target identification of the airborne photoelectric system; specifically, the information of the frame target identification of the airborne photoelectric system investigation image includes target number, category and posture, etc., and fills 128 bytes.

[0060] Step (5) the 138th to the 202nd byte of the small data packet is the state information of the airborne photoelectric system, wherein the state information includes: the angle information, field of view angle information, system mode information and ranging distance value information of the airborne photoelectric system; specifically, fill 64 bytes of the current state information of the airborne photoelectric system, such as field of view angle, system mode, etc.

[0061] Step (6) the 203rd to the 204th byte of the small data packet is the number of segmented small data packets, the small data packet byte length is dynamically calculated by formula (1), and the small data packet number is dynamically calculated by formula (2); wherein formula (1) is: small data packet byte length = wireless transmission bandwidth / transmission baud rate-fixed length byte; formula (2) is: small data packet number = (investigation image byte + fixed length byte) / small data packet byte; specifically, the airborne photoelectric system investigation image and information are packaged, according to the wireless transmission bandwidth, the data transmission baud rate or speed defined by the sending end and the ground control station, the investigation image is dynamically segmented into x small data packets, and each small data packet is sequentially numbered, the small data packet byte length is dynamically calculated by formula (small data packet byte = wireless transmission bandwidth / transmission baud rate-fixed length byte); the small data packet number is calculated by formula (small data packet number = (investigation image byte + fixed length byte) / small data packet byte).

[0062] Step (7) the 205th to the 206th byte of the small data packet is the small data packet number; wherein the small data packet number is automatically accumulated, and the maximum value of the small data packet accumulation is the small data packet number calculated in step (6).

[0063] Step (8) the 207th to the 208th byte of the small data packet is the small data packet length calculated by formula (3); wherein formula (3) is: small data packet byte length = wireless transmission bandwidth / transmission baud rate-fixed byte length;

[0064] Step (9) the 209th byte to the Nth byte of the small data packet is the image data filled by the variable length structure, the image data generated by the airborne photoelectric system in real time is segmented and filled according to the small data packet length calculated in step (8); wherein the filling times is the small data packet number calculated in step (6); specifically, 2 bytes of small data packet number, 2 bytes of small data number and 2 bytes of small data packet byte length are sequentially filled.

[0065] Step (10) generates 4 bytes as the tail character 0xCA0KSMZD of the small data packet, and the tail character is the check mark of the small data packet; and 4 bytes of tail bytes are generated.

[0066] The embodiment of the present application cyclically fills data from step (1), and automatically accumulates to generate small data packet numbers, and the maximum is the small data packet number calculated in step (6). A complete frame of reconnaissance image and information is dynamically segmented into x small data packets according to the above rules and is sent.

[0067] Preferably, the embodiment of the present application divides each frame of reconnaissance image of the airborne photoelectric system into x small data packets, and specifically, the length of the segmented small data packet is dynamically calculated by using the wireless transmission parameter allocated to the airborne photoelectric system, so as to prevent the large data volume of the reconnaissance image and information from causing packet loss or congestion, and to realize dynamic adaptation to the wireless transmission requirement.

[0068] The data processing method of the ground control station of the embodiment of the present application further includes, in addition to the above, that the photoelectric reconnaissance image and the identification information and the state information are uniformly packaged, and when the small data packet is received at the ground control station, the current reconnaissance image and information are automatically synchronized and aligned.

[0069] When the real-time generated reconnaissance image and information of the airborne photoelectric system of the embodiment of the present application are transmitted through the wireless terminal with limited bandwidth, the small data packets are automatically calculated and dynamically segmented for transmission according to the transmission bandwidth, baud rate or speed, so as to prevent the reconnaissance image and information from causing packet loss, error code or congestion and other abnormalities in the wireless network transmission process, and to improve the transmission efficiency.

[0070] (2) The data processing method of the ground control station includes: reordering, packaging and analyzing the received small data packet according to the data processing method; wherein the data processing method includes: querying the data packet number corresponding to the small data packet, sorting the data packet number by using the bubble sort method, inserting the analyzed variable-length data into the sorted sequence, and simultaneously counting the number of packets participating in the bubble sort under the same data packet number, and judging whether the number of packets is equal to x, if yes, the information of a frame of reconnaissance image is completed splicing, and the identification information and the state information are analyzed. It should be noted that the bubble sort method of the embodiment of the present application refers to comparing two adjacent numbers in a group of numbers to be sorted, and if the front number is greater than the rear number, the two numbers are exchanged, otherwise not exchanged; in this way, the sorting is completed finally.

[0071] Please continue to refer to Figure 3The data processing method of the airborne photoelectric system wireless transmission according to the embodiment of the application is as follows: when the real-time generated survey images and information of the airborne photoelectric system are transmitted in a limited wireless bandwidth, the protocol of data encapsulation is designed according to the survey image data, image category, identification information and state information, transmission baud rate or speed and transmission bandwidth, etc. The first four bytes are defined as the synchronization bytes of the unsigned char type, which are used for the synchronization of wireless transmission and ground control station data reception; the fifth byte and the sixth byte are the data packet numbers of the unsigned char type, which represent the unique number corresponding to each frame of image and information generated by the airborne photoelectric system in real time; the seventh byte and the eighth byte are the image classification numbers of the unsigned char type, which usually include visible light color image, visible light grayscale image, infrared thermal image and low-light night vision image, and other image types can be extended autonomously. The ninth byte to the 137th byte are 128 bytes long, which are defined as the image identification information of the unsigned char type, and the target number, category, posture and other information generated by the airborne photoelectric system in the identification and processing of each frame of image. The 138th byte to the 202nd byte are 64 bytes long, which are defined as the photoelectric system state information, including the angle, field of view, system mode and other information of the airborne photoelectric system. The 203rd byte and the 204th byte are the small data packet numbers of the unsigned char type, which are dynamically calculated according to the wireless transmission parameters, the baud rate or speed defined by the data transmission, the data volume of the image and information, and the number of small data packets. The 205th byte and the 206th byte are the small data packet numbers of the unsigned char type, which are automatically accumulated, and the maximum value of the accumulation is equal to the small data packet number defined by the 203rd byte and the 204th byte; the 207th byte and the 208th byte are the small data packet lengths of the unsigned char type, which are dynamically changed in real time, and the length of each small data packet is calculated according to the formula (small data packet byte length = wireless transmission bandwidth / transmission baud rate-fixed byte length). In the above formula, the sum of the other bytes except the filled image data constitutes the fixed byte. The 209th byte to the Nth byte are the image data filled in the variable length structure, which are cyclically segmented and filled according to the data packet length calculated by the 207th byte and the 208th byte, and the number of filling is equal to the small data packet number calculated by the 203rd byte and the 204th byte; and the end is the 4-byte tail character, which is used as the verification byte of the data packet.

[0072] More specifically, please refer to Figure 4 The above received small data packets are reordered, packaged and parsed according to the data processing method of the embodiment of the application, including:

[0073] Step (1) the ground control station receives the data packet transmitted wirelessly in turn and stores in the buffer, reads 4 bytes from the buffer in sequence, sequentially analyzes the first 4 synchronization bytes, judges whether it is synchronization byte 0xCAHBMCZD, if not, reads 4 bytes from the next byte in sequence to judge, if yes, enters step (2);

[0074] Step (2) reads 2 bytes in sequence, analyzes as data packet number, each data packet number corresponds to a frame of image and information, and the data packet number is used as the number of the buffer area; Specifically, sequentially analyze the data packet number and record it in the buffer area as the address number of the buffer area, and each same data packet number represents that the buffer area stores the same frame of image and information. Specifically, sequentially analyze the data packet number and record it in the buffer area as the address number of the buffer area, and each same data packet number represents that the buffer area stores the same frame of image and information.

[0075] Step (3) reads 2 bytes in sequence, analyzes as image classification, and the image classification indicates that the current photoelectric system detects the image as visible light, infrared thermal image or low-light night vision image;

[0076] Step (4) reads 128 bytes of identification information and 64 bytes of state information in sequence, the identification information is the target number, classification and posture information of the image identification transmitted by the current data packet, which is used to realize the synchronization alignment of the image and the identification information; the state information is the reconnaissance information of the airborne photoelectric system fed back to the ground control station in real time, including the field angle of the photoelectric system, the system mode and the ranging value;

[0077] Step (5) reads 2 bytes of small data packet number and 2 bytes of small data packet number in sequence and stores; Specifically, sequentially analyze the small data packet number and record it, and the same frame of reconnaissance image and information has the same small data packet number, and the small data number represents the current received data packet number.

[0078] Step (6) reads 2 bytes of image data length in sequence, analyzes and records, and the image data length is the image data byte length filled by the small data packet according to the wireless bandwidth, rate and dynamic calculation of one frame of image and information data;

[0079] Step (7) according to the image data length analyzed in step (6), reads the image data in cycle and buffers; Specifically, sequentially analyze the small data packet length, and read the image data content of the corresponding length in cycle.

[0080] Step (8) reads the last 4 bytes of the tail character in sequence, judges whether it is 0xCA0KSMZD, if yes, enters step (9), otherwise, continues to read the cache area data from step (1); specifically, the 4 bytes of the tail byte are sequentially parsed, and it is judged whether it is a correct tail byte, if yes, a complete data packet is received and parsed, and step (9) is entered, otherwise, the data frame is abandoned, and the sequential reading and parsing from step (1) is started again.

[0081] Step (9) queries the cache area of the small data packet corresponding to the data packet number in the cache area, sorts the small data packet numbers by using the bubble sort method, inserts the image data parsed in step (7) into the sorting sequence, and simultaneously counts the number of packets participating in the bubble sort under the same data packet number, judges whether it is equal to the number of small data packets parsed in step (5), if yes, a complete image data is spliced, and the ground control station parses the image according to the image classification in step (3); if not, continues to sequentially read and parse the data from step (1). Specifically, according to the data packet number parsed in step (2), the small data packet is stored in the cache area corresponding to the data packet number, the bubble sort is performed according to the small data packet number as a parameter, the image data is spliced to the corresponding position in the cache area according to the sorting result, and in the bubble sort process, the small data packet count participating in the sorting and whether it is equal to the small data packet number are counted, if not, step (1) is continued, and if yes, step (10) is entered.

[0082] Step (10) is parsed and packaged through the above steps, a complete frame of investigation image and information packet are read, and the ground control station software restores the image, identifies the information and state information according to the cache area spliced and packaged.

[0083] Preferably, when the ground control station of the embodiment of the application parses the small data packet, the parsed data packet number, the small data packet number and the number are used as query and processing parameters, all the small data packets under the parsed data packet number are sorted in real time, and the data packet sequence inversion and disorder caused by the multiple wireless transmission or receiving path levels are prevented.

[0084] The ground control station of the embodiment of the application is reordered, packaged and parsed according to the data processing method, and the data packet sequence inversion and disorder caused by the multiple wireless transmission and ground control station path levels are prevented.

[0085] The embodiment of the present application solves the problems that the different airborne photoelectric systems have different image categories and systems, the application scene is complex and changes greatly, the transmission method and protocol change greatly when the generated investigation image and information are transmitted wirelessly, and the traditional investigation image and identification information are transmitted from different paths and protocols, the ground control station software is difficult to align the image and identification information, the mechanism is complex and a large amount of computing resources are consumed. The embodiment of the present application transmits the investigation image and information with indefinite length structure into small data packets according to rules in real time, the ground control station receives the small data packets transmitted wirelessly in real time, and dynamically sorts the small data packets generated by the same frame image and information to splice and restore the complete investigation image and information.

[0086] The above merely describes the specific embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An airborne optoelectronic system wireless transmission data processing method, characterized in that, The application relates to a data processing method for a sending terminal, which comprises the following steps: using an investigation image and information grouping method to divide investigation images and information generated by an airborne photoelectric system into small data packets and transmitting the small data packets to a ground control station; wherein the investigation image and information grouping method comprises the following steps: processing a same frame investigation image of the airborne photoelectric system into identification information corresponding to the investigation image and state information of the airborne photoelectric system; dividing each frame investigation image of the airborne photoelectric system into x small data packets; specifically, each small data packet is variable-length data formed by grouping the investigation image, the identification information and the state information according to a rule into fixed bytes + n bytes, and the length of the small data packet is variable, wherein the length of the small data packet = the wireless transmission bandwidth / transfer baud rate-fixed length bytes, and the length of the small data packet = the wireless transmission bandwidth / transfer baud rate-fixed bytes; the fixed bytes comprise a synchronization byte, a data packet number, an image classification number, identification information and state information, the number of small data packets, the number of small data packets, the length of the small data packets and a tail character, wherein the number of small data packets = (the investigation image byte + the fixed length byte) / the small data packet byte; the variable-length data comprises an image generated by the airborne photoelectric system, identification information of the image and state information of the airborne photoelectric system; a ground control station data processing method comprises the following steps: reordering, grouping and analyzing the received small data packets according to the data processing method; wherein the data processing method comprises the following steps: querying the data packet number corresponding to the small data packet, using a bubble sorting method to sort all the small data packets under the current data packet number in real time, inserting the variable-length data in the analyzed small data packet into a sorting sequence, simultaneously counting the number of packets participating in the bubble sorting under the same data packet number, and judging whether the number of packets is equal to x; if yes, the information of a frame investigation image is completed, and the identification information and the state information are analyzed. In the data processing method of the sending terminal, the bytes of the small data packet are as follows: a synchronization byte, a data packet number, an image classification number, identification information and state information, the number of small data packets, the number of small data packets, the length of the small data packets, image data filled in a variable-length structure and a tail character. The data processing method of the sending terminal specifically comprises the following steps: Step (1): the first four bytes of the small data packet are defined as a synchronization byte 0xCAHBMCZD of an unsigned char type; 2. The data processing method for wireless transmission of an airborne optoelectronic system according to claim 1, characterized in that, Step (2): the fifth and sixth bytes of the small data packet are data packet numbers of an unsigned char type, wherein a unique number corresponding to each frame image and information generated by the airborne photoelectric system in real time is accumulated by 1 for the data packet number of the next frame image and information; step (3): the seventh and eighth bytes of the small data packet are image classification numbers, wherein a visible light color image is generated with a number 0x0011; a visible light grayscale image is generated with a number 0x0022; an infrared thermal image is generated with a number 0x0033; a micro-light night vision image is generated with a number 0x0044; and other image categories are defined with self-defined numbers. ​ 3. The data processing method for wireless transmission of an airborne optoelectronic system according to claim 1, characterized in that, ​ ​ ​ Step (4) the 9th to the 137th byte of the small data packet is the identification information of the investigation image, wherein the identification information includes: target number information, classification information and posture information generated by real-time image target identification of the airborne photoelectric system; Step (5) the 138th to the 202nd byte of the small data packet is the state information of the airborne photoelectric system, wherein the state information includes: angle information, field of view angle information, system mode information and ranging distance value information of the airborne photoelectric system; Step (6) the 203rd to the 204th byte of the small data packet is the number of segmented small data packets, the length of the small data packet is dynamically calculated by using the calculation formula of the length of the small data packet, and the number of segmented small data packets is dynamically calculated by using the calculation formula of the number of small data packets; Step (7) the 205th to the 206th byte of the small data packet is the small data packet number; wherein the small data packet number is automatically accumulated, and the maximum value of the small data packet accumulation is the number of small data packets calculated in the step (6); Step (8) the 207th to the 208th byte of the small data packet is the small data packet length calculated by using the calculation formula of the length of the small data packet; Step (9) the 209th byte to the Nth byte of the small data packet is the image data filled in the variable length structure, and the image data generated by the airborne photoelectric system in real time is cyclically segmented and filled according to the small data packet length calculated in the step (8); wherein the filling times is the number of small data packets calculated in the step (6); Step (10) 4 bytes are generated as the tail character 0xCA0KSMZD of the small data packet, and the tail character is the check mark of the small data packet.

4. The method of claim 1, wherein the data processing method is a wireless transmission of data for an airborne electro-optical system. According to the data processing method, the received small data packet is reordered, packaged and parsed, including: Step (1) 4 bytes are sequentially read from the buffer, and it is judged whether it is the synchronization byte 0xCAHBMCZD, if not, 4 bytes are sequentially read from the next byte again for judgment, if yes, step (2) is entered; Step (2) 2 bytes are sequentially read and parsed as data packet numbers, each data packet number corresponds to one frame of image and information, and the data packet number is used as the number of the buffer; Step (3) 2 bytes are sequentially read and parsed as image classification, and the image classification indicates that the current photoelectric system investigation image is a visible light, infrared thermal image or low-light night vision image; Step (4) 128 bytes of identification information and 64 bytes of state information are sequentially read, the identification information is the target number, classification and posture information of the image identification transmitted by the current data packet, and is used to realize the synchronous alignment of the image and the identification information; the state information is the investigation information of the airborne photoelectric system fed back to the ground control station in real time, including the field of view angle of the photoelectric system, the system mode and the ranging value; Step (5) 2 bytes of small data packet number and 2 bytes of small data packet number are sequentially read and stored; Step (6) 2 bytes of image data length are sequentially read, parsed and recorded, and the image data length is the image data byte length filled by the small data packet dynamically calculated according to the wireless bandwidth, rate, one frame of image and information data; Step (7) 2 bytes of image data length are sequentially read, parsed and recorded, and the image data length is the image data byte length filled by the small data packet dynamically calculated according to the wireless bandwidth, rate, one frame of image and information data; Step (7) reads the image data cyclically and caches according to the image data length parsed in the step (6); Step (8) reads the last 4 bytes tail characters sequentially, judges whether it is 0xCA0KSMZD, if yes, enters step (9), otherwise, continues to read the cache area data from the step (1); Step (9) queries the cache area of the small data packet corresponding to the data packet number in the cache area, sorts the small data packet number by using the bubble sorting method, inserts the image data parsed in the step (7) into the sorting sequence, simultaneously, counts the number of packets participating in the bubble sorting under the same data packet number, judges whether it is equal to the small data packet number parsed in the step (5), if yes, a complete image data is spliced, the ground control station analyzes the image according to the image classification parsed in the step (3); if not, continues to read and analyze the data sequentially from the step (1).

5. The method of claim 1, wherein the method further comprises: In the sending end data processing method, each frame of the investigation image of the airborne photoelectric system is divided into x small data packets, specifically, the length of the divided small data packet is dynamically calculated by using the wireless transmission parameter allocated to the airborne photoelectric system, so that the large data volume of the investigation image and information is prevented from causing packet loss or congestion, and dynamic adaptation to the wireless transmission requirement is realized.

6. The method of claim 1, wherein the method further comprises: The ground control station data processing method further comprises: The photoelectric reconnaissance image, the identification information and the state information are uniformly packaged, and when the ground control station receives the small data packet, the current investigation image and information are automatically synchronized and aligned.

7. The method of claim 1, wherein the method further comprises: When the ground control station analyzes the small data packet, the parsed data packet number, the small data packet number and the number are used as the query and processing parameters, the real-time sorting of all the small data packets under the parsed data packet number is performed, and the data packet sequence inversion and disorder caused by the multiple path levels of the wireless transmission or the receiving end are prevented.

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