A method for processing telemetry data of a launch vehicle, a computing device and a storage medium

Abstract

This invention discloses a method, computing device, and storage medium for processing telemetry data of launch vehicles, belonging to the field of rocket telemetry data processing technology. After image data is acquired by a camera, this invention performs image processing on the data, extracts key image data, compresses and transmits the data, and reconstructs the complete image at the ground end using the key data. This invention is applicable to launch vehicle scenarios, effectively reducing the proportion of image data in telemetry data without compromising image clarity, leaving more bandwidth for telemetry of parameters of various rocket components, thus providing greater assistance for fault location, fault analysis, and improvement measures, and providing the necessary conditions for a more comprehensive understanding of the rocket's flight status.

Description

Technical Field

[0001] This invention relates to the field of rocket telemetry data processing, and in particular to a method, computing device, and storage medium for processing telemetry data of launch vehicles. Background Technology

[0002] During the launch of a carrier rocket, the code rate of the telemetry system is still relatively low. According to the current development trend, the measurement of rocket parameters will become more and more detailed in the future. In order to fully understand the rocket's flight situation, a large amount of test data is needed to verify the correctness of the flight.

[0003] Currently, image measurement data during rocket launches is collected by commercial cameras. The image data is compressed using H.264 or H.265 video encoding schemes, and the compressed data is transmitted to the ground for real-time display.

[0004] In their daily practice, the inventors discovered the following problems with existing technical solutions:

[0005] With the amount of telemetry data strictly limited, a smaller proportion of image measurement data allows for more detailed measurements of launch vehicles in critical links and important locations. This will greatly assist in fault location, fault analysis, and improvement measures, and ultimately provide a more comprehensive understanding of the launch vehicle's status through various telemetry measurement methods.

[0006] Currently, image measurement data accounts for 22.5% of all launch vehicle telemetry data. This excessively high proportion prevents more detailed measurements at critical stages and locations, limiting the effectiveness of launch vehicle telemetry and hindering a comprehensive understanding of the rocket's flight status. Given the high requirements for accuracy and stability in rocket telemetry data transmission, existing technologies do not address the issue of the high proportion of image data in current telemetry data.

[0007] In view of this, it is necessary to provide a new technical solution to solve the above problems. Summary of the Invention

[0008] To address the aforementioned technical issues, this application provides a method for processing telemetry data of launch vehicles, which is applicable to launch vehicle scenarios. It effectively reduces the proportion of image data in telemetry data, leaving more bandwidth for telemetry measurements of parameters of various rocket components, thus providing greater assistance for fault location, fault analysis, and improvement measures, and providing the necessary conditions for a more comprehensive understanding of the rocket's flight status.

[0009] A method for processing telemetry data from a launch vehicle includes:

[0010] Extract image edges to obtain an edge image;

[0011] Divide the edge image into equal parts and number them, and set up a difference buffer and an edge image buffer with the same number of equal parts as the edge image;

[0012] The images in the edge image buffer are compared with the edge images of their corresponding regions in order of their numbers, and the numbers of the regions with inconsistent data are recorded in the difference buffer.

[0013] Obtain the image data corresponding to the number in the difference buffer, compress the image data of each region, and store the compressed data in the compressed data buffer.

[0014] After establishing a communication connection between the ground and the rocket to begin telemetry data transmission or switching cameras, all data of the first image is transmitted. After the first image data transmission is completed, compressed image data from the compressed data buffer is sent.

[0015] The ground receives image data and decompresses it.

[0016] The decompressed image data is stitched together into a complete image and displayed on the screen.

[0017] Preferably, the step of extracting image edges to obtain an edge image includes:

[0018] Acquire raw image data from the camera in YUV format;

[0019] Extract the Y component data from the original image data;

[0020] Filter the Y component data to obtain filtered image data;

[0021] The filtered image data is processed using an edge detection algorithm to extract the image edges, resulting in an edge image.

[0022] Preferably, the step of dividing the edge image into equal parts and numbering them, setting a difference buffer and an edge image buffer with the same number of equal parts as the edge image includes:

[0023] Divide the edge image into 25 equally sized image regions;

[0024] Based on the degree of interest in the image regions, the 25 edge image regions were numbered;

[0025] Set 25 buffers for the edge images, with each buffer being the size of the corresponding numbered image;

[0026] Set up a difference buffer that can record the numbers of 9 different regions to record the difference regions.

[0027] Preferably, the process of uniformly subdividing the edge image into 25 equally sized image regions and numbering the 25 edge image regions according to their degree of interest further includes:

[0028] The nine middle image regions are designated as regions of interest, and weights are assigned to these regions; the closer the image region is to the center, the greater the weight is assigned.

[0029] Preferably, the step of comparing the image in the edge image buffer with the edge image of its corresponding region in numerical order, and recording the numbers of the inconsistent regions in the difference buffer, includes three states:

[0030] The first state: The number of records in the difference buffer is less than 9. In this case, it is necessary to fill the difference buffer with the numbers of the regions of interest that are not recorded in the difference buffer according to the weight of the regions of interest, until there are 9 region numbers in the difference buffer.

[0031] The second state: the number of records in the difference buffer is exactly 9, and no further processing is required;

[0032] The third state: The numbering of the difference buffer for all regions has been filled before the comparison is complete. At this point, the subsequent comparison process is stopped.

[0033] Preferably, the step of obtaining the image data corresponding to the number in the difference buffer, compressing the image data of each region, and storing the compressed data in the compressed data buffer includes:

[0034] Convert the raw YUV format image captured by the camera into an RGB format bitmap;

[0035] Based on the region number in the difference buffer, obtain the image data of the relevant region of the RGB format bitmap;

[0036] Each acquired image data block is converted to YUV format;

[0037] The H.264 compression algorithm is used to compress the YUV format image data;

[0038] The compressed data is stored in the compressed data cache area.

[0039] Preferably, after establishing a communication connection between the ground and the arrow or switching cameras, all data of the first image is transmitted. After the first image data transmission is completed, compressed image data in the compressed data buffer is sent. The compressed image data in the compressed data buffer includes:

[0040] The number of the image data area where the compressed image data is located;

[0041] Send compressed image data starting from the first byte;

[0042] When switching cameras, a specific value that is not an image region number needs to be written into the first byte of the compressed image data being sent.

[0043] Preferably, the ground receiving of image data and data decompression includes:

[0044] Determine if the camera needs to be switched; if the camera is switched, clear the data of the cached image area in memory; if the camera is not switched, receive image data normally.

[0045] After the image data is received, the data is decompressed.

[0046] According to another aspect of this application, a computing device is also provided, comprising: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the aforementioned launch vehicle telemetry data processing method.

[0047] According to another aspect of this application, a computer-readable storage medium is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the aforementioned launch vehicle telemetry data processing method.

[0048] Compared with the prior art, this application has at least the following beneficial effects:

[0049] 1. This invention is applicable to launch vehicle scenarios, effectively reducing the proportion of image data in telemetry data, leaving more bandwidth for telemetry of parameters of various rocket stages. It can telemetry more parameters during rocket launch without increasing transmission capacity, providing greater assistance for fault location, fault analysis, and improvement measures, and providing the necessary conditions for a more comprehensive understanding of rocket flight status.

[0050] 2. This invention can restore a complete image from key data at the ground end. Without reducing the image clarity, it can reduce the proportion of image measurement data in the total telemetry data from 22.5% to 8.1%, effectively reducing the proportion of image data in telemetry data. Attached Figure Description

[0051] The following sections will describe some specific embodiments of the invention in a detailed manner, by way of example and not limitation, with reference to the accompanying drawings. In the drawings:

[0052] Figure 1 This is a schematic diagram of the overall process of the present invention;

[0053] Figure 2 This is a schematic diagram illustrating the segmentation and numbering of edge images;

[0054] Figure 3 This is a schematic diagram of the edge image buffer;

[0055] Figure 4 This is a schematic diagram illustrating the segmentation of the edge image and the weight of each region of interest. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] like Figure 1 As shown, a method for processing telemetry data of a launch vehicle includes the following steps:

[0058] Step S1: Extract image edges to obtain an edge image. This specifically includes the following steps:

[0059] Step S11: Obtain the camera's raw image data in YUV format.

[0060] Step S12: Extract the Y component data from the original image data.

[0061] Step S13: Filter the Y component data to obtain the filtered image data.

[0062] Step S14: Use an edge detection algorithm to extract the image edges from the filtered image data to obtain an edge image.

[0063] Step S2: Divide the edge image into equal parts and number them, and set up a difference buffer and an edge image buffer with the same number of parts as the edge image. Specifically, this includes the following steps:

[0064] Step S21: Divide the edge image into 25 equally sized image regions.

[0065] Step S22: Number the 25 edge image regions according to their level of interest. A schematic diagram of edge image segmentation and numbering is shown below. Figure 2 As shown.

[0066] Step S23: Set up 25 buffers for the edge images, with each buffer being the size of the corresponding numbered image. A schematic diagram of the edge image buffers is shown below. Figure 3 As shown.

[0067] Step S24: Set up a difference buffer that can record the numbers of 9 different regions to record the difference region numbers.

[0068] In addition, the following steps are included between steps S21 and S22:

[0069] Step S20: Set the middle 9 image regions as regions of interest and assign weights to these regions of interest.

[0070] The image regions closer to the center have higher weights. The weight settings for the regions of interest are as follows: Figure 3 As shown.

[0071] Step S3: Compare the images in the edge image buffer with the edge images of their corresponding regions in order of their numbers, and record the numbers of the regions with inconsistent data in the difference buffer.

[0072] The step of recording the numbers of inconsistent data regions in the difference buffer includes three states:

[0073] The first state: The number of records in the difference buffer is less than 9. In this case, it is necessary to fill the difference buffer with the numbers of the regions of interest that are not recorded in the difference buffer according to the weight of the regions of interest, until there are 9 region numbers in the difference buffer.

[0074] The second state: the number of records in the difference buffer is exactly 9, and no further processing is required.

[0075] The third state: The numbering of the difference buffer for all regions has been filled before the comparison is complete. At this point, the subsequent comparison process is stopped.

[0076] Step S4: Obtain the image data corresponding to the number in the difference buffer, compress the image data of each region, and store the compressed data in the compressed data buffer. Specifically, this includes the following steps:

[0077] Step S41: Convert the raw YUV format image captured by the camera into an RGB format bitmap.

[0078] Step S42: Obtain the image data of the relevant region of the RGB format bitmap according to the region number in the difference buffer.

[0079] Step S43: Convert each acquired image data block into YUV format.

[0080] Step S44: Compress the YUV format image data using the H.264 compression algorithm.

[0081] Step S45: Store the compressed data in the compressed data buffer.

[0082] Step S5: After establishing a communication connection between the ground and the rocket and starting telemetry data transmission or switching cameras, transmit all the data of the first image. After the first image data transmission is completed, send the compressed image data in the compressed data buffer.

[0083] The compressed image data in the compressed data buffer includes the following steps:

[0084] Step S51: Send the number of the image data area where the compressed image data is located.

[0085] Step S52: Send compressed image data starting from the first byte.

[0086] When switching cameras, a specific value that is not an image region number needs to be written into the first byte of the compressed image data being sent.

[0087] Step S6: The ground receives the image data and decompresses it.

[0088] Specifically, the following steps are included:

[0089] Step S61: Determine whether to switch cameras; if the camera is switched, clear the data of the cached image area in memory; if the camera is not switched, receive image data normally.

[0090] Step S62: After the image data is received, the data is decompressed.

[0091] Step S7: Combine the decompressed image data into a complete image and display it on the display device.

[0092] After the camera acquires image data, it performs image processing, extracts key image data, compresses and transmits the data, and restores the complete image at the ground end using the key data. Without reducing image clarity, the proportion of image measurement data in the total telemetry data can be reduced from 22.5% to 8.1%, effectively reducing the proportion of image data in telemetry data.

[0093] According to another aspect of this application, a computing device is also provided, comprising: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the aforementioned launch vehicle telemetry data processing method.

[0094] According to another aspect of this application, a computer-readable storage medium is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the aforementioned launch vehicle telemetry data processing method.

[0095] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0096] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0097] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for processing telemetry data of a launch vehicle, characterized in that, include: Extract image edges to obtain an edge image; Divide the edge image into equal parts and number them, and set up a difference buffer and an edge image buffer with the same number of equal parts as the edge image; The images in the edge image buffer are compared with the edge images of their corresponding regions in order of their numbers, and the numbers of the regions with inconsistent data are recorded in the difference buffer. Obtain the image data corresponding to the number in the difference buffer, compress the image data of each region, and store the compressed data in the compressed data buffer. After establishing a communication connection between the ground and the rocket to begin telemetry data transmission or switching cameras, all data of the first image is transmitted. After the first image data transmission is completed, compressed image data from the compressed data buffer is sent. The ground receives image data and decompresses it. The decompressed image data is stitched together into a complete image and displayed on the display device; The step of dividing the edge image into equal parts and numbering them, setting a difference buffer and an edge image buffer with the same number of equal parts as the edge image includes: Divide the edge image into 25 equally sized image regions; Based on the degree of interest in the image regions, the 25 edge image regions were numbered; Set 25 buffers for the edge images, with each buffer being the size of the corresponding numbered image; Set up a difference buffer that can record the numbers of 9 different regions; The process of comparing the images in the edge image buffer with the edge images of their corresponding regions in numerical order, and recording the numbers of inconsistent regions in the difference buffer, includes three states: The first state: The number of records in the difference buffer is less than 9. In this case, it is necessary to fill the difference buffer with the numbers of the regions of interest that are not recorded in the difference buffer according to the weight of the regions of interest, until there are 9 region numbers in the difference buffer. The second state: the number of records in the difference buffer is exactly 9, and no further processing is required; The third state: The numbering of the difference buffer for all regions has been filled before the comparison is complete. At this point, the subsequent comparison process is stopped.

2. The method for processing telemetry data of a launch vehicle as described in claim 1, characterized in that, The step of extracting image edges to obtain an edge image includes: Acquire raw image data from the camera in YUV format; Extract the Y component data from the original image data; Filter the Y component data to obtain filtered image data; The filtered image data is processed using an edge detection algorithm to extract the image edges, resulting in an edge image.

3. The method for processing launch vehicle telemetry data as described in claim 1, characterized in that, The process of uniformly subdividing the edge image into 25 equally sized image regions and numbering the 25 edge image regions according to their degree of interest also includes: The nine middle image regions are designated as regions of interest, and weights are assigned to these regions; the closer the image region is to the center, the greater the weight is assigned.

4. The method for processing launch vehicle telemetry data as described in claim 3, characterized in that, The steps of obtaining the image data corresponding to the number in the difference buffer, compressing the image data of each region, and storing the compressed data in the compressed data buffer include: Convert the raw YUV format image captured by the camera into an RGB format bitmap; Based on the region number in the difference buffer, obtain the image data of the relevant region of the RGB format bitmap; Each piece of image data acquired is converted to YUV format; The H.264 compression algorithm is used to compress the YUV format image data; The compressed data is stored in the compressed data cache area.

5. The method for processing launch vehicle telemetry data as described in claim 4, characterized in that, After establishing a communication connection between the ground and the rocket or switching cameras, all data of the first image is transmitted. After the first image data transmission is complete, the compressed image data in the compressed data buffer is sent. The compressed image data in the compressed data buffer includes: The number of the image data area where the compressed image data is located; Send compressed image data starting from the first byte; When switching cameras, a specific value that is not an image region number needs to be written into the first byte of the compressed image data being sent.

6. The method for processing telemetry data of a launch vehicle as described in claim 5, characterized in that, The process of receiving and decompressing ground-based image data includes: Determine if the camera needs to be switched; if the camera is switched, clear the data of the cached image area in memory; if the camera is not switched, receive image data normally. After the image data is received, the data is decompressed.

7. A computing device, characterized in that, include: The processor and the memory storing a computer program, wherein the computer program, when executed by the processor, performs the launch vehicle telemetry data processing method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The storage instruction, when executed on a computer, causes the computer to perform the launch vehicle telemetry data processing method as described in any one of claims 1 to 6.

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