Aircraft, system, and method
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- RHEINMETALL TECH PUBLICATIONS GMBH
- Filing Date
- 2024-06-27
- Publication Date
- 2026-05-13
AI Technical Summary
The Von Neumann bottleneck in classic computer architectures limits the ability of cluster cameras to handle resource-intensive tasks simultaneously, particularly in airborne wide-area surveillance applications, where high computing power and large data processing are required, leading to scalability issues and increased weight, space, and data transmission constraints in aircraft.
A decentralized or distributed computer architecture is implemented using multiple camera modules with embedded processing units and a network connection, allowing for real-time processing and transmission of image data, eliminating the Von Neumann bottleneck and enabling cost-effective, scalable, and flexible camera systems.
This solution enhances the scalability and flexibility of camera systems, allowing for continuous, area-wide monitoring with improved data processing and transmission efficiency, reducing the operational constraints of weight and space while maintaining constant data transfer rates, thus supporting both military and civilian surveillance operations.
Smart Images
Figure EP2024068101_16012025_PF_FP_ABST
Abstract
Description
[0001] AIRCRAFT, SYSTEM AND PROCESS
[0002] The present invention relates to an aircraft, a system comprising such an aircraft and a method for operating such an aircraft.
[0003] For continuous, comprehensive monitoring of the Earth's surface, particularly for so-called WARS (Wide-Area Persistent Surveillance) applications, manned or unmanned aerial vehicles (UAVs) with cluster cameras can be used. Such a cluster camera comprises several cameras for capturing image data. The image data from the cameras is transmitted to a ground-based base station. The base station is then capable of evaluating the image data.
[0004] According to internal findings, the processing units of such cluster cameras feature a classic Von Neumann computer architecture. Individual single or multiple components of a computer are linked together via a central bus system, enabling data exchange. The well-known problem with this computer architecture is that, due to the so-called "von Neumann bottleneck," a computer with this type of architecture is only capable of handling multiple resource-intensive tasks simultaneously to a limited extent. In the case of a cluster camera with a large number of cameras, however, very large amounts of data must be moved from different sources and processed using simple computing operations.
[0005] Thus, the bus system quickly becomes a bottleneck, especially when multiple elementary functions, such as processing, storage, analysis, etc., are used simultaneously. This problem severely hampers the scalability of cluster cameras, since while the computing power of individual components can be very high, the data exchange between individual computing components is limited.
[0006] Furthermore, such cluster cameras for aircraft present a trade-off or conflict of objectives that underlies airborne WARS applications in general. Very high resolutions and computing power are required to conduct WARS. At the same time, space, weight, and data transmission in aircraft, helicopters, and drones vary greatly and are severely limited. This means, for example, that increasing computing power can lead to a reduction in the range and / or operational duration of such an aircraft.
[0007] Against this background, one object of the present invention is to provide an improved aircraft.
[0008] Accordingly, an aircraft with a camera array for continuous, comprehensive monitoring of the Earth's surface is proposed. The camera array comprises a plurality of cameras, each of whose viewing axes is arranged at an angle to one another, N camera modules with N > 2, each camera module having M cameras with M > 1, and each of the N camera modules having a processing unit for processing the image data provided by the M cameras, a network that interconnects the processing units, and a transmission unit connected to the network for data connection of the camera array to a base station of the aircraft.The transmission unit is configured to transmit the processed image data from the processing units to the base station, although the network's data transmission rate is too low to transmit the image data provided by the M cameras and / or the processed image data from the processing units in real time. Because each camera module has its own processing unit, a decentralized or distributed computer architecture can be implemented. In particular, by exploiting the physical limitations of the cameras, the image processing task during live operation of the camera group becomes mathematically separable. The previously discussed problem of the Von Neumann bottleneck can no longer occur. The camera group can be constructed from so-called OTS (Off-the-Shelf) products, in particular from so-called COTS (Commercial Off-the-Shelf) products. This enables cost-effective production of the camera group.Furthermore, this also enables unlimited scalability, high flexibility, and rapid further development, for example, with regard to expanded functions. All cameras preferably form a rigid mechanical system within the camera group. Due to this rigid mechanical system, only a one-time calibration of the camera group is required.
[0009] The aircraft can be manned or unmanned. Preferably, the aircraft is a drone, in particular a reconnaissance drone. The terms "aircraft" and "drone" can therefore be interchanged in this context. The aircraft can be used for both civil and military purposes. The aircraft can be an airplane, in particular a fixed-wing aircraft. However, the aircraft can also be a rotary-wing aircraft or a helicopter. In particular, the aircraft is suitable for WAPS or AW APS (Airborne Wide-Area Persistent Surveillance) applications.
[0010] The Earth's surface can be a water surface. Accordingly, the terms "Earth's surface" and "water surface" can be interchanged arbitrarily. In particular, the Earth's surface can be the water surface of an ocean or an inland body of water. The Earth's surface can also be another, distant and therefore comparatively flat and / or flat-appearing object. In particular, the aircraft serves to support reconnaissance in maritime disasters using automated data processing in the air.
[0011] The aircraft can also be used for reconnaissance in matters of civil and military security, including disaster control, airborne earth and environmental observation, surveillance of major events, escort of convoys or troops, border guarding, cartography, control of ground forces, surveillance of strategically important locations and objects, detection of large-scale events and their interrelationships over time and place and / or tracking and subsequent analysis of movements in an entire surveillance area or the like.
[0012] The camera group has at least two camera modules, each camera module having at least one camera. The cameras can be digital cameras. In addition to a plurality of cameras, cameras with different sensors, in particular for detecting different wavelengths, can also be used. The camera group can have any number of camera modules, as long as N > 2. For example, the camera group can comprise two, three, four, five, six, or more than six camera modules. Accordingly, each camera module can have any number of cameras. For example, each camera module can have one, two, three, four, five, six, or more than six cameras. The cameras are preferably arranged in a grid or matrix. "Grid" or "matrix" in this context means that the cameras are arranged next to one another and / or one above the other in rows and columns.
[0013] The cameras are arranged, in particular, so that they are inclined toward one another or tilted inward. However, the cameras can also be tilted outward or away from one another. Preferably, the cameras are arranged such that the distance between lenses, in particular the intersection points of lens planes and associated optical axes, of neighboring cameras is minimal. The viewing axis of a respective camera can coincide with a center axis of a lens of the corresponding camera. The cameras are preferably arranged such that all viewing axes are inclined relative to one another. "Inclined" or "tilted" is understood here, in particular, to mean that the viewing axes are neither parallel to one another nor perpendicular to one another. For this purpose, each viewing axis can be inclined relative to an x-direction, relative to a y-direction, and relative to a z-direction.Preferably, the cameras have a fixed arrangement relative to one another.
[0014] The lines of sight, or at least some of them, may intersect. In particular, the lines of sight intersect in front of the camera group. However, the lines of sight may also intersect behind the camera group. Since the camera group comprises multiple cameras, the camera group can also be referred to as a cluster camera. Since the lines of sight are arranged at an angle to each other, the camera group can also be referred to as an oblique cluster camera.
[0015] Each camera module has a processing unit. The processing units are video processing and media servers (English: Video Processing and Media Servers) and can therefore also be referred to as such. The processing units, the cameras, and / or the transmission unit are preferably OTS products, in particular COTS products. The processing units, together with the transmission unit, form a decentralized or distributed computer architecture. For this purpose, the processing units and the transmission unit are connected to one another via the network. The processing units and the transmission unit are, in particular, embedded PCs (English: Personal Computers). Cameras can also be assigned to the transmission unit. The processing units can process the image data from the cameras, for example, by performing a preliminary evaluation of the image data.For example, regions of interest (ROI) of the Earth's surface can be identified, and image data depicting only these regions of interest can be transmitted to the transmission unit. The transmission unit then transmits only these image data depicting the regions of interest to the base station. The base station can then evaluate the regions of interest.
[0016] The transmission unit can be an application and data relay server or be designated as such. In particular, the transmission unit serves to establish the data connection between the camera group and the base station. The transmission unit can be a dedicated master module, which can also have cameras as mentioned above. The transmission unit serves, in particular, to exchange data with the base station. The transmission unit is connected to the base station, in particular, via the aforementioned data connection. The data connection can also be referred to as a data link.
[0017] With the aid of the data connection, the transmission unit is thus preferably configured to transmit the processed image data from the processing units to the base station. The transmission unit is preferably also suitable for processing the image data from the cameras. The transmission unit is particularly preferably configured to transmit the processed image data from the processing units to the base station using the data connection. A "data connection" or "data link" is understood here to mean a connection, in particular a radio connection, between the transmission unit and the base station for data transmission. The data connection also has a data transmission rate. The data transmission rate of the network is preferably greater than or equal to, and preferably similar to, the data transmission rate of the data connection.Using the data connection, a live stream of a video mosaic from the cameras can be transmitted to the base station. It is possible for multiple base stations to be connected to the data connection.
[0018] The base station can be located on the ground. The base station can be stationary. Alternatively, the base station can be mobile. In the latter case, the base station can be transported by a vehicle. The vehicle can be a land vehicle, a watercraft, or an aircraft, in particular a manned aircraft. If the vehicle is an aircraft, the base station is not located on the ground but in the air.
[0019] Since the network's data transmission rate is too low to transmit the image data provided by the cameras and / or the processed image data from the processing units in real time, the processing and / or pre-analysis of the image data is preferably performed in the processing units. Therefore, it is not necessary to transmit all image data from all cameras over the network.
[0020] According to one embodiment, each processing unit has sufficient computing power to process the image data provided by the M cameras in real time. This allows each camera module to independently process and / or evaluate the image data provided by the cameras assigned to the respective camera module.
[0021] According to a further embodiment, the data transmission rate of the network is greater than or equal to, preferably similar to, a data transmission rate between the transmission unit and the base station.
[0022] The data transmission rate of the network is greater than or equal to, preferably similar to, the data transmission rate of the data connection between the transmission unit and the base station.
[0023] According to a further embodiment, the processing unit of each of the N camera modules is configured to identify one or more regions of interest of the earth's surface based on the image data and to transmit only a portion of the image data depicting the region of interest or the regions of interest to the transmission unit.
[0024] This reduces the amount of data that needs to be transmitted to the base station via the data connection. There may be objects on the Earth's surface. These objects could be boats or people in the water, for example. Each object can be assigned or become assigned a region of interest. The respective region of interest preferably encloses the object assigned to it. The regions of interest can each have any geometry and / or size. The geometry and / or size of the regions of interest can depend on the geometry and / or size of the objects. The regions of interest can be congruent with the objects.The processing unit of each of the camera modules is preferably configured to identify the respective area of interest on the earth's surface based on the image data captured by the cameras of the respective camera module and to forward only the portion of the image data depicting the respective area of interest to the transmission unit. In addition to automatically identified areas of interest, an image section can also be requested from the base station. Other objects or areas of interest can be military or civilian task forces and vehicles, for example motor vehicles, trucks, aircraft, in particular UAVs, individual people, buildings, explosions, changes in the environment, tire tracks, clearings, excavations, debris, blockages, infrastructure and / or natural obstacles such as rivers, cliffs, ravines or the like.
[0025] According to a further embodiment, the transmission unit is configured to request the part of the image data depicting the region or regions of interest from the processing units of the N camera modules.
[0026] This portion of the image data can be transmitted to the base station via the data connection. The base station can then evaluate the area(s) of interest. The base station can then, for example, identify and / or classify the object(s).
[0027] According to a further embodiment, the processing unit of each of the N camera modules is configured to combine the image data of the M cameras into a video mosaic.
[0028] The video mosaic can be a wide-angle image of the Earth's surface. The video mosaic can have any geometry. If the video mosaic is square, it can have an edge length of several kilometers. A live stream of the video mosaic can be transmitted to the base station via the data connection. The cameras can capture different sections of the video mosaic. The sections overlap in overlapping areas. The sections together form the video mosaic. Each camera can be assigned a section. The sections are assembled using stitching. In photography, "stitching" refers to creating a large photograph from several smaller individual shots, which usually show overlapping sections of the subject.The size of the overlap areas depends primarily on the calibration, its configuration, and the image quality. A functioning calibration requires that meaningful information can be extracted from the respective overlap area to establish a connection between the image data involved. As a rule of thumb, 5 to 10% of the image width or at least 200 pixels have proven to be reasonable values for the width of the overlap areas.
[0029] According to a further embodiment, the transmission unit is configured to combine the image data of the M cameras and / or image data of the N camera modules into a video mosaic.
[0030] Accordingly, not only the processing units but also the transmission unit are configured to assemble the aforementioned sections of the video mosaic into the video mosaic.
[0031] According to a further embodiment, the processing unit of each of the N camera modules comprises a camera interface, a video and data processor and a memory.
[0032] The camera interface can be referred to as the camera interface, the video and data processor as the video and data processor, and the memory as the storage. Each camera is preferably connected to the respective camera interface of the processing unit assigned to the respective camera via a bus. Each camera preferably has its own bus.
[0033] According to a further embodiment, the network comprises a plurality of switches, wherein each of the N camera modules is assigned a switch, and wherein the transmission unit is connected to one of the switches.
[0034] The switches can also be referred to as network switches. The switches are connected to the processing units via links. The switches are also connected to each other via links. The links are part of the network. The links can be LAN (Local Area Network) cables. The links can form a ring connection. Depending on the size of the network, a mix of a ring connection and a star connection can be used to reduce latency. Thanks to the constant data transmission rate limited by the data link, the network can be of any size, provided the aircraft is capable of transporting the required number of cameras and camera modules.
[0035] According to a further embodiment, each of the N camera modules comprises one of the switches.
[0036] This means, in particular, that N switches are provided. The transmission unit is connected to one of the switches via a connection, for example, a LAN cable. Subgroups K of the N camera modules, where N > K > 1, can each share a switch.
[0037] According to a further embodiment, the aircraft comprises a fuselage, a wing attached to the fuselage, and a drive attached to the fuselage or to the wing, wherein the camera group is attached to the fuselage and / or to the wing.
[0038] A camera array can be provided on both the fuselage and the wing. The propulsion system can drive a propeller. The propeller can be a pusher propeller. The propulsion system can be a two-cylinder two-stroke engine or a Wankel engine, for example. The propulsion system can also be a propeller-turbine jet engine.
[0039] The aircraft may, for example, have a wingspan of approximately 5 m, a length of approximately 3 m, and a height of approximately 1 m. Preferably, the aircraft has a takeoff mass of less than 90 kg. The aircraft can travel at a maximum speed of 90 km / h at an altitude of over 5,000 m in one direction. The aircraft's maximum flight duration may be 12 hours. However, the aforementioned values are only examples.
[0040] Furthermore, a system with X such aircraft with X > 1 and the base station is proposed, wherein the transmission unit transmits the processed image data of the processing units to the base station.
[0041] In particular, the system is a Wide-Area Persistent Surveillance System (WAPSS) or an Airborne Wide-Area Persistent Surveillance System (AWAPSS) and can therefore also be referred to as such. In particular, the system supports reconnaissance in maritime disaster situations using automated data processing in the air. The system can be used for both civil and military tasks. The system has at least one aircraft. The system can have any number of aircraft. For example, the system can comprise a swarm of aircraft. Furthermore, a method for operating such an aircraft is proposed. The aircraft comprises a camera array for continuous, comprehensive monitoring of the Earth's surface.The camera group comprises a plurality of cameras, the viewing axes of which are all arranged at an inclination relative to one another, and N camera modules with N > 2, wherein each camera module has M cameras with M > 1, and wherein each of the N camera modules has a processing unit. Furthermore, the camera group comprises a network that connects the processing units to one another, and a transmission unit connected to the network for data connection of the camera group to a base station of the aircraft. The method comprises the following steps: a) processing image data provided by the M cameras with the aid of the processing units of the N camera modules and b) transmitting the processed image data from the processing units to the base station with the aid of the transmission unit, wherein a data transmission rate of the network is too low to transmit the image data provided by the M cameras and / or the processed image data from the processing units in real time.
[0042] Steps a) and b) are preferably performed simultaneously. During step b), the processed image data is preferably transmitted to the base station using the aforementioned data connection. The image data from the M cameras can be combined into a video mosaic by the processing unit of each of the N camera modules. It is also possible for the transmission unit to combine the image data from the M cameras and / or the image data from the N camera modules into a video mosaic.
[0043] According to one embodiment, the processing unit of each of the N camera modules uses the image data to identify one or more regions of interest on the Earth's surface. As previously mentioned, the region of interest may include an object, such as a boat or the like. Multiple regions of interest may be identified.
[0044] According to a further embodiment, only a part of the image data depicting the region or regions of interest is passed on to the transmission unit.
[0045] The image data depicting the region of interest can be requested from the transmission unit or from the base station via the transmission unit. During step b), preferably only the portion of the image data depicting the region of interest is forwarded to the transmission unit.
[0046] The embodiments and features described for the proposed aircraft apply accordingly to the proposed system and / or the proposed method and vice versa.
[0047] "One" in this case is not necessarily limited to a single element. Rather, multiple elements, such as two, three, or more, may be included. Any other counting term used here should not be understood as implying a limitation to the exact number of elements mentioned. Rather, numerical deviations upwards and downwards are possible, unless otherwise stated.
[0048] Further possible implementations of the aircraft, the system, and / or the method also include combinations of features or embodiments described above or below with respect to the exemplary embodiments that are not explicitly mentioned. In this case, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the aircraft, the system, and / or the method.
[0049] Further advantageous configurations and aspects of the aircraft, the system, and / or the method are the subject of the dependent claims and the exemplary embodiments of the aircraft, the system, and / or the method described below. The aircraft, the system, and / or the method are explained in more detail below using preferred embodiments with reference to the accompanying figures.
[0050] Fig. 1 shows a schematic view of an embodiment of a system for continuous comprehensive monitoring of the earth's surface!
[0051] Fig. 2 shows a schematic view of an embodiment of a camera group in view II according to Fig. 1!
[0052] Fig. 3 shows a schematic sectional view of the camera group according to the section line IILIII of Fig. 2!
[0053] Fig. 4 shows a further schematic sectional view of the camera group according to the section line IV'IV of Fig. 2!
[0054] Fig. 5 is a further schematic view of the camera group according to Fig. 2;
[0055] Fig. 6 shows a schematic plan view of the Earth’s surface! and
[0056] Fig. 7 shows a schematic block diagram of an embodiment of a method for operating an aircraft with a camera group according to Fig. 2. In the figures, identical or functionally identical elements have been provided with the same reference numerals unless otherwise indicated.
[0057] Fig. 1 shows a schematic view of an embodiment of a system 1 for continuous, comprehensive monitoring of the earth's surface 2.
[0058] In particular, System 1 is a Wide-Area Persistent Surveillance System (WAPSS) or an Airborne Wide-Area Persistent Surveillance System (AWAPSS). In particular, System 1 serves to support reconnaissance in maritime disaster situations using automated data processing in the air. System 1 can be used for both civilian and military purposes. The earth's surface 2 can be a water surface. Accordingly, the terms "earth's surface" and "water surface" can be interchanged arbitrarily. In particular, the earth's surface 2 can be the water surface of a sea or an inland body of water.
[0059] The system 1 has at least one aircraft 3. The system 1 can have any number of aircraft 3. For example, the system 1 can comprise a swarm of aircraft 3. However, it is assumed below that the system 1 has exactly one aircraft 3. The aircraft 3 can be manned or unmanned (an unmanned aerial vehicle, UAV). However, in the present case, it is assumed that the aircraft 3 is unmanned. Preferably, the aircraft 3 is a drone, in particular a reconnaissance drone. The terms "aircraft" and "drone" can therefore be freely interchanged in this context.
[0060] The aircraft 3 can be an airplane, in particular a fixed-wing aircraft. However, the aircraft 3 can also be a rotary-wing aircraft or a helicopter. In the following, it is assumed that the aircraft 3 is a fixed-wing aircraft. The aircraft 3 can have a fuselage 4, a wing 5 attached to the fuselage 4, and a drive 6 for driving the aircraft 3. A propeller 7 can be driven by means of the drive 6. The propeller 7 can be a pusher propeller. The drive 6 can comprise, for example, a two-cylinder two-stroke engine or a Wankel engine. The drive 6 can also be a propeller turbine jet engine.
[0061] The aircraft 3 can, for example, have a wingspan of approximately 5 m, a length of approximately 3 m, and a height of approximately 1 m. Preferably, the aircraft 3 has a takeoff mass of less than 90 kg. The aircraft 3 can travel at a maximum speed of 90 km / h at an altitude of over 5,000 m in a flight direction F. The maximum flight duration of the aircraft 3 can be 12 hours. However, the aforementioned values are only examples.
[0062] The aircraft 3 carries a camera array 8 for continuous, comprehensive monitoring of the earth's surface 2. The camera array 8 is at least partially housed in the fuselage 4. However, the camera array 8 can also protrude at least partially from the fuselage 4. The camera array 8 faces the earth's surface 2. This means that the camera array 8 is located on the underside of the fuselage 4. The camera array 8 is used to capture and / or monitor the earth's surface 2. Image data depicting the earth's surface 2 can be generated using the camera array 8. The camera array 8 can be rotatable and / or pivotable.
[0063] The system 1 further comprises a base station 9 assigned to the aircraft 3. The base station 9 can be located on the Earth's surface 2. The base station 9 can be stationary. Alternatively, the base station 9 can also be mobile.
[0064] In the latter case, the base station 9 can be transported by a vehicle. The vehicle can be a land vehicle, a watercraft, or an aircraft, in particular a manned aircraft. In the event that the vehicle is an aircraft, the base station 9 is not located on the
[0065] Earth's surface 2, but in the air.
[0066] A data link or data connection 10 exists between the base station 9 and the aircraft 3, in particular the camera group 8 of the aircraft 3. Data can be exchanged between the base station 9 and the aircraft 3 via the data connection 10. For example, the base station 9 can transmit data in the form of control signals to the aircraft 3. The control signals sent from the base station 9 to the aircraft 3 and / or to the camera group 8 can, for example, include commands for rotating and / or tilting the camera group 8. Furthermore, commands for transmitting and recording specific regions of interest and / or commands for camera settings can also be transmitted. In addition, commands can be sent to switch between different cameras in the camera group 8, for example for recordings in other spectral ranges.
[0067] The aircraft 3 can, for example, transmit image data to the base station 9. The base station 9 can, for example, have a computing unit for data processing, an output unit, for example a monitor or screen, and an input unit, for example in the form of a touchscreen. Furthermore, the base station 9 can also have a transmitting unit and / or a receiving unit.
[0068] Fig. 2 shows an embodiment of the camera group 8 in view II according to Fig. 1. Fig. 3 shows a sectional view of the camera group 8 according to the section line III-III of Fig. 2. Fig. 4 shows a further sectional view of the camera group 8 according to the section line IV-IV of Fig. 2. In the following, reference is made simultaneously to Figs. 2 to 4. In particular, Fig. 2 shows a preferred embodiment of a camera group 8 as mentioned above. The camera group 8 has N camera modules 11, 12, 13, 14. Where N > 2. In other words, at least two camera modules 11, 12, 13, 14 are provided. However, more than two camera modules 11, 12, 13, 14 can also be provided. In the present case, the camera group 8 has exactly four camera modules 11, 12, 13, 14. However, two, three, five, six, seven, eight or more than eight camera modules 11, 12, 13, 14 may also be provided.
[0069] Each of the camera modules 11, 12, 13, 14 has M cameras 15, 16, 17, 18. Where M > 1. In other words, each camera module 11, 12, 13, 14 has at least one camera 15, 16, 17, 18. However, more than one camera 15, 16, 17, 18 can be provided per camera module 11, 12, 13, 14. In the present case, each camera module 11, 12, 13, 14 has exactly one camera 15, 16, 17, 18. However, two, three, four, five, six, seven, eight or more than eight cameras 15, 16, 17, 18 can also be provided per camera module 11, 12, 13, 14.
[0070] The cameras 15, 16, 17, and 18 are arranged in a grid or matrix. "Grid" or "matrix" here means that the cameras 15, 16, 17, and 18 are arranged next to one another and / or one above the other in rows and columns. In the exemplary case where the camera group 8 has four cameras 15, 16, 17, and 18, the cameras 15, 16 and the cameras 17, and 18 are each arranged in a common row. Accordingly, the cameras 15, 17 and the cameras 16, and 18 are each arranged in a common column.
[0071] The camera group 8 is assigned a coordinate system with a longitudinal direction or x-direction x, a vertical direction or y-direction y, and a depth direction or z-direction z. The directions x, y, z are oriented perpendicular to each other. The flight direction F can be oriented opposite to the x-direction x. The y-direction y can be oriented from the aircraft 3 toward the Earth's surface 2.
[0072] As shown in Figs. 2 to 4, each camera 15, 16, 17, 18 is assigned a viewing axis 19, 20, 21, 22. The cameras 15, 16, 17, 18 are arranged such that all viewing axes 19, 20, 21, 22 are inclined relative to one another. "Inclined" is understood here in particular to mean that the viewing axes 19, 20, 21, 22 are neither parallel nor perpendicular to one another. For this purpose, each viewing axis 19, 20, 21, 22 is arranged inclined or tilted relative to the x-direction, relative to the y-direction, and / or relative to the z-direction. The sight axes 19, 20, 21, 22 or at least part of the sight axes 19, 20, 21, 22 may intersect each other.
[0073] Since camera group 8 comprises multiple cameras 15, 16, 17, and 18, camera group 8 can also be referred to as a cluster camera. Since the viewing axes 19, 20, 21, and 22 are arranged at an angle to one another, camera group 8 can also be referred to as an oblique cluster camera.
[0074] Fig. 5 shows a highly simplified schematic view of camera group 8.
[0075] As previously mentioned, the camera group 8 comprises N camera modules 11, 12, 13, 14 with N > 2. Of these camera modules 11, 12, 13, 14, only the camera modules 11, 12, 13 are shown in Fig. 5, wherein, in addition to the camera modules 11, 12,
[0076] 13 any number of additional camera modules 14, for example the previously mentioned camera module 14, can be provided. This is indicated in Fig. 5 by a dashed box containing three dots. Since the camera module
[0077] 14 is not shown in Fig. 5, only the camera modules 11, 12, 13 will be discussed below. Each camera module 11, 12, 13 in turn has M cameras 15-1, 15-2, 15-3, 15-4,
[0078] 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17-3, 17-4, 17-m. Where M >
[0079] 1. For example, M = 5. In this case, each camera module 11, 12, 13 is assigned five cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17'3, 17-4, 17-m. All cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-
[0080] 1, 16'2, 16'3, 16'4, 16-m, 17'1, 17'2, 17'3, 17'4, 17-m together form a mechanism 23 of the camera group 8. The mechanism 23 is rigid, so that the cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17-3, 17-4, 17-m or the camera modules 11, 12, 13 cannot move relative to one another.
[0081] The camera modules 11, 12, 13 can all have the same number of cameras 15-1, 15-
[0082] 2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17'3, 17-4, 17-m. However, this is not mandatory. Accordingly, the camera modules 11, 12, 13 can each have a different number of cameras 15-1, 15-2, 15-
[0083] 3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17'3, 17-4, 17-m.
[0084] Each camera module 11, 12, 13 has a processing unit 24, 25, 26 for processing the cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4,
[0085] 16-m, 17-1, 17-2, 17'3, 17-4, 17-m of provided image data. Thus, N processing units 24, 25, 26 with N > 2 are provided. The camera module 11 is assigned the processing unit 24, the camera module 12 is assigned the processing unit 25, and the camera module 13 is assigned the processing unit 26. Accordingly, the cameras 15-1, 15-2, 15-3, 15-4, 15-m are assigned to the processing unit 24, the cameras 16-1, 16-2, 16-3, 16-4, 16-m are assigned to the processing unit 25, and the cameras 17'1, 17'2, 17'3, 17'4, 17-m are assigned to the processing unit 26. The processing units 24, 25, and 26 can also be referred to as video processing and media servers (EnglJ Video Processing and Media Server). Each processing unit 24, 25, and 26 has a camera interface 27 (EnglJ Camera Interface), a video and data processor 28 (EnglJ Video and Data Processor), and a memory 29 (EnglJ Storage).The processing units 24, 25, and 26 are embedded PCs (English personal computers) and can therefore also be referred to as such. Each processing unit 24, 25, and 26 has sufficient computing power to process the image data provided by the respective cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17-3, 17-4, and 17-m in real time.
[0086] Each camera 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17'3, 17-4, 17-m is coupled by means of a bus 30, 31, 32, 33, 34 to the respective camera interface 27 of the processing unit 24, 25, 26 assigned to the respective camera 15-1, 15-2, 15-3, 15-4, 15-m, 16'1, 16'2, 16'3, 16'4, 16-m, 17'1, 17'2, 17'3, 17'4, 17-m. Each camera 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16'2, 16'3, 16'4, 16-m, 17'1, 17'2, 17'3, 17'4, 17-m has its own bus 30, 31, 32, 33, 34.
[0087] The camera modules 11, 12, 13, in particular the processing units 24, 25, 26, are interconnected by means of a network 35. The network 35 has a data transmission rate C1 (Engi. Data Transfer Rate). However, the data transmission rate C1 of the network 35 is preferably too low to transmit the image data provided by the cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17-3, 17-4, 17-m and / or the processed image data of the processing units 24, 25, 26 in real time.
[0088] A "data transfer rate" is defined here as the transmission speed at which a specific amount of data can be transmitted over a transmission channel within a certain time interval. Common units for the data transfer rate (CI) are bit / s, kbit / s, Mbps, or Gbit / s.
[0089] Network 35 can be a local Ethernet network. Network 35 comprises several network switches 36, 37, 38. Each camera module 11, 12, 13 is assigned one of the switches 36, 37, 38. Thus, switch 36 is assigned to camera module 11, switch 37 to camera module 12, and switch 38 to camera module 13. N switches 36, 37, 38 are provided.
[0090] Switch 36 is connected to processing unit 24 via a connection 39, switch 37 is connected to processing unit 25 via a connection 40, and switch 38 is connected to processing unit 26 via a connection 41. Switches 36, 37, and 38 are interconnected via connections 42, 43, and 44. Connections 42, 43, and 44 form a ring circuit. Depending on the size of network 35, a combination of a ring circuit and a star circuit may be provided to reduce latency. Connections 39, 40, 41, 42, 43, and 44 may be LAN (Local Area Network) cables.
[0091] The camera group 8 further comprises a transmission unit 45 connected to the network 35 for establishing the data connection 10 between the camera group 8 and the base station 9. The transmission unit 45 is configured to transmit the processed image data from the processing units 24, 25, 26 to the base station 9. The data connection 10 can also be referred to as a data link. The transmission unit 45 is connected to the network 35, for example, to the switch 36, via a connection 46. The connection 46 can also be a LAN cable.
[0092] The transmission unit 45 can also be an embedded PC. The transmission unit 45 can be a dedicated master module, which can also have the previously mentioned cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17'1, 17'2, 17'3, 17'4, 17-m. The transmission unit 45 is used for data exchange with the base station 9. The transmission unit 45 is connected to the base station 9 via the data connection 10.
[0093] A "data connection" or "data link" is understood here to mean a connection, in particular a radio connection, between the transmission unit 45 and the base station 9 for data transmission. The data connection 10 has a data transmission rate C2. The data transmission rate C1 of the network 35 is greater than or equal to, preferably similar to, the data transmission rate C2 of the data connection 10. The data transmission rate C2 is a constant and, from the perspective of the camera group 8, highly limited data transmission rate.
[0094] Fig. 6 shows a top view of the Earth’s surface 2.
[0095] For the sake of simplicity, it is assumed below that the camera group 8, as shown in Figs. 2 to 4, has four camera modules 11, 12, 13, 14 with four cameras 15, 16, 17, 18. The camera group 8 can capture or create a video mosaic 47 of the earth's surface 2. The video mosaic 47 can be a wide-angle image of the earth's surface 2. The video mosaic 47 can have any geometry. For the sake of simplicity, the video mosaic 47 is shown as rectangular. If the video mosaic 47 is square, it can have an edge length of several kilometers. A live stream of the video mosaic 47 can be transmitted to the base station 9 via the data connection 10. For simplicity, perspective distortions and optical distortions caused by the lenses of cameras 15, 16, 17, and 18 are neglected in Fig. 6. Cameras 15, 16, 17, and 18 capture different sections 48, 49, 50, and 51 of video mosaic 47.Sections 48, 49, 50, 51 overlap one another in overlapping regions 52, 53. Sections 48, 49, 50, 51 can have any desired geometry. In Fig. 6, sections 48, 49, 50, 51 are shown as rectangular for simplicity. Sections 48, 49, 50, 51 together form video mosaic 47. Section 48 can be captured, for example, by camera module 12. Section 49 can be captured, for example, by camera module 11. Section 50 can be captured, for example, by camera module 14. Section 51 can be captured, for example, by camera module 13.
[0096] In the event that the camera modules 11, 12, 13, 14 each have several cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17'3, 17-4, 17-m, the sections 48, 49, 50, 51 are divided into further subsections that overlap each other. At least one of the cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17'2, 17'3, 17'4, 17-m is assigned to each of the subsections.
[0097] The transmission unit 45 is configured to combine the sections 48, 49, 50, 51 or the image data associated with the sections 48, 49, 50, 51 into the video mosaic 47. The transmission unit 45 can also be configured to combine the subsections of the sections 48, 49, 50, 51 or the image data of the subsections captured by the cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17-3, 17-4, 17-m into the video mosaic 47. In particular, the processing unit 24, 25, 26 of each of the camera modules 11, 12, 13, 14 is configured to combine the sections 48, 49, 50, 51 or the image data of the cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17'1, 17'2, 17'3, 17'4, 17-m into the video mosaic 47. The sections 48, 49, 50, 51 are assembled by stitching.In photography, "stitching" refers to the creation of a large photograph from several smaller individual shots, which usually show overlapping sections of the subject. The size of the overlapping areas 52, 53 depends on the calibration, its configuration, and the image quality. A functioning calibration requires that meaningful information can be extracted from the respective overlapping areas 52, 53 in order to establish a connection between the image data involved. As a rule of thumb, 5 to 10% of the image width or at least 200 pixels have proven to be reasonable values for the width of the overlapping areas 52, 53.
[0098] Objects 54, 55 can be located on the earth's surface 2. The objects 54, 55 can be boats or people in the water, for example. Each object 54, 55 is assigned a region of interest 56, 57 (ROI). The respective region of interest 56, 57 encloses the object 54, 55 assigned to it. The regions of interest 56, 57 can also be congruent with the objects 54, 55. The regions of interest 56, 57 can each have any geometry and / or size. The geometry and / or size of the regions of interest 56, 57 can depend on a geometry and / or size of the objects 54, 55. The objects 54, 55 can also be located in the overlapping areas 52, 53.
[0099] To explain the functionality of the system 1 and / or the camera group 8, Figs. 1 to 6 will be discussed simultaneously below. The processing unit 24, 25, 26 of each of the camera modules 11, 12, 13, 14 is configured to identify the respective region of interest 56, 57 of the earth's surface 2 based on the image data acquired by the cameras 15, 15-1, 15-2, 15-3, 15-4, 15-m, 16, 16-1, 16-2, 16'3, 16-4, 16-m, 17, 17-1, 17-2, 17'3, 17-4, 17-m, 18 and to forward only a portion of the image data depicting the respective region of interest 56, 57 to the transmission unit 45. In particular, the transmission unit 45 is configured to request the portion of the image data depicting the respective region of interest 56, 57 only from the processing units 24, 25, 26 of those camera modules 11, 12, 13, 14 that capture the region of interest 56, 57. This reduces the amount of data to be transmitted via the network 35.
[0100] The primary task of System 1 is to support reconnaissance in maritime disasters using automated data processing in the air. Camera group 8 is responsible for capturing high-resolution wide-angle images in the form of video mosaic 47 and performing automated pre-analysis in processing units 24, 25, and 26 to locate the areas of interest 56, 57 in video mosaic 47.
[0101] The detection of the regions of interest 56, 57 in the air is necessary because it is not possible to transmit the image data captured by the cameras 15, 15-1, 15-2, 15-3, 15-4, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17-3, 17-4, 17-m, 18 in their entirety and at a usable repetition rate over the data connection 10. Therefore, only the regions of interest 56, 57 are transmitted in high quality in order to be able to be evaluated and classified more precisely in the base station 9.
[0102] The previously described structure of camera group 8 is implemented using so-called OTS (Off-the-Shelf) products, in particular so-called COTS (Commercial Off-the-Shelf) products. In other words, for example, cameras 15, 15-1, 15-2, 15-3, 15-4, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17'1, 17'2, 17'3, 17'4, 17-m, 18, the processing units 24, 25, 26, and the transmission unit 45 are series-produced products. This enables cost-effective production of camera group 8. Furthermore, it also enables unlimited scalability, high flexibility, and rapid further development, for example with regard to expanded functions.
[0103] With Aircraft 3, or rather, with Camera Group 8, a general trade-off or conflict of objectives underlying airborne WAPS (Wide-Area Persistent Surveillance) applications can be resolved. Very high resolutions and computing power are required to implement WAPS. At the same time, space, weight, and data transmission in aircraft, helicopters, and drones vary greatly and are severely limited.
[0104] This is especially true when smaller aircraft are to be used for reasons of cost, operational readiness and / or effort, and personnel. Finished products suffer from the high development costs and time required for such specialized equipment. At the same time, modifications and upgrades, such as higher resolution, require the products to be redeveloped, and individual products have limited applications due to their weight class.
[0105] Known in-house cluster cameras (not shown) also feature a classic Von Neumann computer architecture. In this case, individual single or multiple components of a computer are linked together using a central bus system, enabling data exchange. The well-known problem with this computer architecture is that, due to the so-called "Von Neumann bottleneck," a computer with this type of architecture is only capable of handling multiple resource-intensive tasks simultaneously to a limited extent. In the case of a cluster camera with a large number of cameras, however, very large amounts of data must be moved from different sources and processed using simple arithmetic operations. Thus, the bus system quickly becomes a bottleneck, especially when several elementary functions, such as processing, storage, analysis, or the like, are used simultaneously.This problem severely hampers the scalability of cluster cameras, since although the computing power of individual components can be very high, the data exchange between individual computing components can only be limited.
[0106] During the development of Camera Group 8, it was determined that the intended application of Camera Group 8 and its internal processing requires a high degree of mathematical separability, thanks to spatial independence. For this reason, it makes sense to also design the hardware of Camera Group 8 as separable in order to overcome the limitations described above. The use of OTS products is advantageous for this purpose due to their interchangeability.
[0107] To solve the problem outlined above, an innovative approach is sought to combine the technical disciplines of "High-Performance Parallel Computing" with "Embedded Computing in Airborne Systems." By using embedded systems, a data center approach can be miniaturized and applied to avionics. Viewing the individual product, camera module 11, 12, 13, 14, as a data center composed of embedded OTS products, results in high scalability and versatile applicability, which can meet the long-term and broad-band demand for payloads for various carriers in the avionics sector.
[0108] As shown in Figure 5, a top-level system architecture can be implemented with exemplary OTS products in the form of cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17-3, 17-4, 17-m. The camera modules 11, 12, and 13 are connected to a decentralized or distributed computing system via the network 35, which consists of the switches 36, 37, and 38 and their interconnections 42, 43, and 44. The computing load is distributed entirely among the processing units 24, 25, 26, which perform the image processing, analysis, and storage of the image data from their respective cameras 15-1, 15-2, 15-3, 15-4, 15-m, 16-1, 16-2, 16-3, 16-4, 16-m, 17-1, 17-2, 17'3, 17-4, 17-m.
[0109] The transmission unit 45 serves solely as a coordinator and relay. All images, for example in the form of the regions of interest 56, 57, which are to be transmitted via the data connection 10, are requested by the transmission unit 45 from the relevant camera modules 11, 12, 13, combined if necessary, and sent to the base station 9. The special feature of this distributed system is that the previously described so-called Von Neumann bottleneck is eliminated.
[0110] The inevitable bottleneck in avionics in general is the data connection 10. Thanks to the aforementioned mathematical separability, the bandwidth of the network 35 hardly needs to be greater than that of the data connection 10, because data that cannot be sent to the base station 9 does not need to be transmitted internally within the network 35. This results in the particular advantages of the system's scalability. If a higher image resolution is required, the camera modules 11, 12, 13, including the network 35, scale linearly. However, the data transmission rates C1, C2 in the network 35 and via the data connection 10 and the transmission unit 45 remain constant.
[0111] The data exchanged via network 35, transmission unit 45, and data connection 10, in addition to image data, only includes that generated by C&C (Command and Control) and calibration processes. These are also constant and can be neglected due to their relatively small proportion, or the latter do not occur during the operation of camera group 8 anyway.
[0112] Fig. 7 shows a schematic block diagram of an embodiment of a method for operating the aircraft 3.
[0113] In the method, in a step S1, image data provided by the cameras 15, 15-1, 15-2, 15-3, 15-4, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17'3, 17-4, 17-m, 18 are processed with the aid of the processing units 24, 25, 26 of the camera modules 11, 12, 13, 14.
[0114] In a step S2, which can be performed simultaneously with step S1, the processed image data from the processing units 24, 25, 26 are transmitted to the base station 9 using the transmission unit 45. The data transmission rate C1 of the network 35 is too low to transmit the image data provided by the cameras 15, 15-1, 15-2, 15-3, 15-4, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17-3, 17-4, 17-m, 18 and / or the processed image data from the processing units 24, 25, 26 in real time.
[0115] The processing unit 24, 25, 26 of each of the camera modules 11, 12, 13, 14 can use the image data to identify a respective region of interest 56, 57 of the Earth's surface 2. In particular, only a portion of the image data depicting the region of interest 56, 57 is then forwarded to the transmission unit 45, which transmits it to the base station 9.
[0116] Although the present invention has been described using exemplary embodiments, it is capable of being modified in many ways.
[0117] 1 system
[0118] 2 Earth's surface
[0119] 3 aircraft
[0120] 4 Hull
[0121] 5 Wing
[0122] 6 Drive
[0123] 7 propeller
[0124] 8 Camera group
[0125] 9 Base station
[0126] 10 Data connection
[0127] 11 Camera module
[0128] 12 Camera module
[0129] 13 Camera module
[0130] 14 Camera module
[0131] 15 Camera
[0132] 15-1 Camera
[0133] 15-2 Camera
[0134] 15-3 Camera
[0135] 15-4 Camera
[0136] 15-meter camera
[0137] 16 Camera
[0138] 16-1 Camera
[0139] 16-2 Camera
[0140] 16-3 Camera
[0141] 16-4 Camera
[0142] 16-meter camera
[0143] 17 Camera
[0144] 17-1 Camera -2 Camera -3 Camera -4 Camera -m Camera Camera Viewing axis Viewing axis Viewing axis Viewing axis Mechanics Processing unit Processing unit Processing unit Camera interface Video and data processor Memory Bus Bus Bus Bus Bus Network Switch Switch Switch Connection Connection Connection Connection Connection 44 Connection
[0145] 45 transmission unit
[0146] 46 Connection
[0147] 47 Video Mosaic
[0148] Section 48
[0149] Section 49
[0150] Section 50
[0151] Section 51
[0152] 52 Overlap area
[0153] 53 Overlap area
[0154] 54 objects
[0155] 55 objects
[0156] 56 areas of interest
[0157] 57 areas of interest
[0158] Cl data transfer rate
[0159] C2 Data transfer rate F Flight direction
[0160] SI step
[0161] S2 Step x x-direction y y-direction z z-direction
Claims
PATENT CLAIMS 1. An aircraft (3) having a camera group (8) for continuous, comprehensive monitoring of the earth's surface (2), the camera group (8) comprising: a plurality of cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17'3, 17-4, 17-m, 18), the lines of sight (19, 20, 21, 22) of which are all arranged at an inclination relative to one another, N camera modules (11, 12, 13, 14) with N > 2, wherein each camera module (11, 12, 13, 14) has M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16'4, 16-m, 17, 17'1, 17'2, 17'3, 17'4, 17-m, 18) with M > 1, and wherein each of the N camera modules (11, 12, 13, 14) has a processing unit (24, 25, 26) for processing the M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17-3, 17-4, 17-m, 18), a network (35) which connects the processing units (24, 25, 26) to one another, and a transmission unit (45) connected to the network (35) for data connection (10) of the camera group (8) to a base station (9) of the aircraft (3), wherein the transmission unit (45) is configured to transmit the processed image data of the processing units (24, 25, 26) to the base station (9), and wherein a data transmission rate (Cl) of the network (35) is too low,to transmit the image data provided by the M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17'3, 17-4, 17-m, 18) in real time.
2. Aircraft according to claim 1, characterized in that that each processing unit (24, 25, 26) has sufficient computing power to process the image data provided by the M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17-3, 17-4, 17-m, 18) in real time.
3. Aircraft according to claim 1 or 2, characterized in that the data transmission rate (Cl) of the network (35) is greater than or equal to, preferably similar to, a data transmission rate (C2) between the transmission unit (45) and the base station (9).
4. Aircraft according to one of claims 1 - 3, characterized in that the processing unit (24, 25, 26) of each of the N camera modules (11, 12, 13, 14) is configured to identify, on the basis of the image data, one or more regions of interest (56, 57) of the earth's surface (2) and to forward only a part of the image data depicting the region of interest (56, 57) or the regions of interest (56, 57) to the transmission unit (45).
5. Aircraft according to claim 4, characterized in that the transmission unit (45) is arranged to request the part of the image data depicting (56, 57) the region of interest or regions of interest (56, 57) from the processing units (24, 25, 26) of the N camera modules (11, 12, 13, 14).
6. Aircraft according to one of claims 1 - 5, characterized in that that the processing unit (24, 25, 26) of each of the N camera modules (11, 12, 13, 14) is configured to combine the image data of the M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17'3, 17-4, 17-m, 18) into a video mosaic (47).
7. Aircraft according to one of claims 1 - 6, characterized in that the transmission unit (45) is set up to combine the image data of the M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17'2, 17'3, 17'4, 17-m, 18) and / or image data of the N camera modules (11, 12, 13, 14) into a video mosaic (47).
8. Aircraft according to one of claims 1 - 7, characterized in that the processing unit (24, 25, 26) of each of the N camera modules (11, 12, 13, 14) comprises a camera interface (27), a video and data processor (28) and a memory (29).
9. Aircraft according to one of claims 1 - 8, characterized in that the network (35) has a plurality of switches (36, 37, 38), wherein each of the N camera modules (11, 12, 13, 14) is assigned a switch (36, 37, 38), and wherein the transmission unit (45) is connected to one of the switches (36, 37, 38).
10. Aircraft according to claim 9, characterized in that each of the N camera modules (11, 12, 13, 14) has one of the switches (36, 37, 38).
11. Aircraft according to one of claims 1 - 10, characterized by a fuselage (4), a wing (5) attached to the fuselage (4), and a drive (6) attached to the fuselage (4) or to the wing (5), wherein the camera group (8) is attached to the fuselage (4) and / or to the wing (5).
12. System (1) with X aircraft (3) according to one of claims 1 - 11 with X > 1 and the base station (9), wherein the transmission unit (45) transmits the processed image data of the processing units (24, 25, 26) to the base station (9).
13. Method for operating an aircraft (3) with a camera group (8) for the continuous, comprehensive monitoring of the earth's surface (2), wherein the camera group (8) comprises a plurality of cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17-3, 17-4, 17-m, 18), whose viewing axes (19, 20, 21, 22) are all arranged inclined to one another, N camera modules (11, 12, 13, 14) with N > 2, wherein each camera module (11, 12, 13, 14) M of the cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17'3, 17-4, 17-m, 18) with M > 1, and wherein each of the N camera modules (11, 12, 13, 14) has a processing unit (24, 25, 26), a network (35) which connects the processing units (24, 25, 26) to one another, and a transmission unit (45) connected to the network (35) for data connection (10) of the camera group (8) to a base station (9) of the aircraft (3), wherein the method comprises the following steps: a) processing (S1) from the M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17-3, 17-4, 17-m, 18) using the processing units (24, 25, 26) of the N camera modules (11, 12, 13, 14), and b) transmitting (S2) the processed image data of the processing units (24, 25, 26) to the base station (9) using the transmission unit (45), wherein a data transmission rate (Cl) of the network (35) is too small to transmit the image data provided by the M cameras (15, 15-1, 15-2, 15-3, 15-3, 15-m, 16, 16-1, 16-2, 16-3, 16-4, 16-m, 17, 17-1, 17-2, 17'3, 17-4, 17-m, 18) in real time.
14. The method according to claim 13, characterized in that the processing unit (24, 25, 26) of each of the N camera modules (11, 12, 13, 14) identifies one or more regions of interest (56, 57) of the earth's surface (2) on the basis of the image data.
15. The method according to claim 14, characterized in that only a part of the image data depicting the region of interest (56, 57) or the regions of interest (56, 57) is passed on to the transmission unit (45).