CN111225181A - Search tracking system based on unmanned aerial vehicle hangs and flies - Google Patents
Search tracking system based on unmanned aerial vehicle hangs and flies Download PDFInfo
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- CN111225181A CN111225181A CN201811418069.0A CN201811418069A CN111225181A CN 111225181 A CN111225181 A CN 111225181A CN 201811418069 A CN201811418069 A CN 201811418069A CN 111225181 A CN111225181 A CN 111225181A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
A searching and tracking system based on unmanned aerial vehicle hanging flight is characterized by comprising a processor Zynq7, a cache chip DDR3SRAM, a program storage chip FLASH N25Q256, a label storage chip AT24C08, a plug-in large-capacity storage chip NAND FLASH MTFC64GD, a gigabit network port, a synchronous serial port, a 422 interface, a 232 interface chip and a power supply control module; the processor Zynq7 completes external image data receiving and search tracking operation, the power supply management and control module conducts sleep management design on internal power chips of the system, all device power supplies are controlled to be switched on, and the whole board or part of devices are switched into a sleep mode according to different running states. The device has the advantages of high integration level, good real-time performance, low power consumption, low cost and the like, and can meet the requirements of low power consumption and miniaturized application occasions such as unmanned aerial vehicle loads.
Description
Technical Field
The present invention relates to the field of digital image processing, and in particular to search tracking and imaging systems.
Background
The rapid development of digital image processing technology has made its application in various fields increasingly widespread. High definition makes a video recording and unmanned aerial vehicle's combination, can effectually carry out image investigation and information acquisition to the locking target is trailed, and investigation striking integration plays more and more important effect in the military field.
With the development of high-definition video technology, video data processing systems have higher requirements on speed, data throughput rate, precision and the like. However, the real-time image acquisition and processing system requires a processor to have higher data bandwidth and processing speed, so that for most of DSP + FPGA schemes, the power consumption is higher, the system becomes complex, the finished product is difficult to achieve miniaturization, and the system is difficult to apply to the fields of small unmanned aerial vehicles and the like.
Disclosure of Invention
The invention provides a searching and tracking system based on unmanned aerial vehicle hanging flight, and aims to solve the problems that the existing DSP + FPGA scheme is high in power consumption, complex in system, difficult to miniaturize finished products and difficult to apply to a small unmanned aerial vehicle.
A searching and tracking system based on unmanned aerial vehicle hanging flight is characterized by comprising a processor Zynq7, a cache chip DDR3SRAM, a program storage chip FLASH N25Q256, a label storage chip AT24C08, a plug-in large-capacity storage chip NANDFLASH MTFC64GD, a gigabit network port, a synchronous serial port, a 422 interface, a 232 interface chip and a power supply control module; the processor Zynq7 completes external image data receiving, the analyzed image is stored in a cache chip DDR3, searching and tracking operation is completed, control information is sent to an external servo control system through a synchronous serial port and an RS422 interface, meanwhile, according to the instruction requirement, the processor Zynq7 stores the work information in a tag storage chip AT24C08, the image in the required time period is stored in an externally-hung large-capacity storage chip NAND FLASH MTFC64GD for subsequent reading and analysis, a program storage chip FLASH N25Q256 is used for storing a solidified program of the processor Zynq7, a gigabit network port is used for original image transmission, and an RS232 interface is used for debugging an ARM system in the processor Zynq 7; the power supply management and control module carries out dormancy management design on power chips in the system, all device power supplies are controlled to be switched on, and the whole board or part of devices are switched into a dormancy mode according to different running states.
Further, the search tracking operation comprises that a PL (programmable logic) end of the processor Zynq7 uses a Camlink protocol analysis module to complete the reception of high-frame-frequency high-definition image data, the image data in the real-time video is subjected to scale conversion according to a fixed format to obtain a target reference image, the target reference image is sent to a PS (dual-core processor Cortex-A9) end of the processor Zynq7 through an AXI bus and a cache chip DDR3, the PS end intercepts the image data in a target coordinate area in the reference image according to instruction information to prepare a target tracking template, and the target template is sent to the PL end through the AXI bus; the PL end of the processor Zynq7 completes the correlation operation of mean value removal normalization product by using a reference graph and a target tracking template, and sends the correlation matrix data back to the PS end of the processor Zynq7 through an AXI bus; and reading the product correlation result by the PS end of the processor Zynq7, performing extremum searching and primary and secondary peak ratio operation, further obtaining a target position coordinate, transmitting the target position coordinate back to the PL end of the processor Zynq7 through an AXI bus, and transmitting the position coordinate information to a control system through a control communication module to complete target searching and tracking.
Further, both the PL and the PS in the processor Zynq7 can access the memory of the cache chip DDR3 through the HP high-speed port of the AXI bus, the PL end completes data acquisition, the preparation of the reference diagram is placed in the cache chip DDR3, the PS end can directly call image data when preparing the target tracking template, and the functions of image information interception, searching for tracking control and communication are completed through the slow port of the AXI bus GP.
The device has the advantages of high integration level, good real-time performance, low power consumption, low cost and the like, and can meet the requirements of low power consumption and miniaturized application occasions such as unmanned aerial vehicle loads.
The invention makes full use of the characteristic that Zynq7 is provided with an ARM core processor (namely PS end, the highest main frequency reaches 800MHz), and uses the ARM core of Zynq7 to replace a DSP processor which is commonly used in the original target identification and tracking technology, thereby effectively reducing the power consumption and cost of the platform, reducing the use of an integrated circuit, enhancing the integration level of the platform and enhancing the real-time property of the platform processing.
High-definition data acquisition is realized by using Zynq7 general LVDS IO, and a Camlink data transmission protocol is realized by using Zynq7 internal logic, so that ultrahigh frame frequency data reception can be completed, and the use of two Camlink interface chips is reduced.
In addition, the special interface of the Zynq7 internal processor realizes the communication interface functions of UART, network interface and the like and the storage interfaces of NandFlash, DDR3 and the like, thereby improving the flexibility and the integration level of the system, saving hardware resources, facilitating the interface expansion, enriching the external communication interface types and improving the applicability of the platform.
Drawings
Figure 1 is a block diagram of the search tracking system processing platform of the present invention,
figure 2 is a flow chart of the target recognition and tracking of the present invention,
figure 3 is the present invention Zynq7 internal architecture optimization,
FIG. 4 is a power topology of the platform of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A searching and tracking system based on unmanned aerial vehicle hanging flight is shown in figure 1 and comprises a processor Zynq7, a cache chip DDR3SRAM, a program storage chip FLASH N25Q256, a label storage chip AT24C08, a plug-in large-capacity storage chip NAND FLASH MTFC64GD, a gigabit network port, a synchronous serial port, a 422 interface, a 232 interface chip and a power supply control module. The processor Zynq7 completes external image data receiving, the analyzed image is stored in a cache chip DDR3, searching and tracking operation is completed, control information is sent to an external servo control system through a synchronous serial port and an RS422 interface, meanwhile, according to the instruction requirement, the processor Zynq7 stores the work information in a tag storage chip AT24C08, the image in the required time period is stored in an externally-hung large-capacity storage chip NAND FLASH MTFC64GD for subsequent reading and analysis, a program storage chip FLASH N25Q256 is used for storing a solidified program of the processor Zynq7, a gigabit network port is used for original image transmission, and an RS232 interface is used for debugging an ARM system in the processor Zynq 7; the power supply management and control module carries out dormancy management design on internal power chips of the system, all the device power supplies are separated and controllable, and the whole board or part of the devices can be switched into a dormancy mode according to different running states.
The target searching and tracking operation function is shown in fig. 2, a PL end of a processor Zynq7 uses a Camlink protocol analysis module to complete receiving of high-frame-frequency high-definition image data, scale conversion is carried out on the image data in a real-time video according to a fixed format to obtain a target reference image, the target reference image is sent to a PS end of the processor Zynq7 through an AXI bus and a cache chip DDR3, the PS end intercepts the image data in a target coordinate area in the reference image according to instruction information to prepare a target tracking template, and the target template is sent to the PL end through the AXI bus; the PL end of the processor Zynq7 completes the correlation operation of mean value removal normalization product by using a reference graph and a target tracking template, and sends the correlation matrix data back to the PS end of the processor Zynq7 through an AXI bus; and reading the product correlation result by the PS end of the processor Zynq7, performing extremum searching and primary and secondary peak ratio operation, further obtaining a target position coordinate, transmitting the target position coordinate back to the PL end of the processor Zynq7 through an AXI bus, and transmitting the position coordinate information to a control system through a control communication module to complete a target tracking function.
The internal architecture of Zynq7 is shown in fig. 3, the processing architecture combines the characteristics of the current image processing algorithm and the processor Zynq7, firstly, PL and PS in the processor Zynq7 can access a DDR3 memory of a cache chip through an HP high-speed port of an AXI bus, the PL end finishes data acquisition, the preparation of a reference image is placed in the cache chip DDR3, the PS end can directly call image data when preparing a target tracking template, the data interaction quantity of the PL end and the PS end in the Zynq7 chip is reduced, the data transmission time is effectively saved, the real-time performance of system processing is improved, the image information is intercepted, and the functions of searching tracking control and the like are finished by an AXI bus GP low-speed port. The design gives full play to the respective advantages of the PS terminal and the PL terminal of the Zynq7 chip in signal processing, and enhances the flexibility, realizability and rapid processing capability of signal processing.
The invention optimizes on the basis of the traditional FPGA + DSP architecture, selects the FPGA chip Zynq7 embedded with the ARM processor, realizes the functions of the original FPGA and DSP chips by a single-chip processor, and solves the problem of bandwidth occupation of large data transmission among a plurality of processors in the traditional architecture by an internal transmission AXI bus, so that the platform has the characteristics of miniaturization and low power consumption and has enough processing capacity and interface resources. The platform utilizes the advantage of high PL (PL) end parallel operation processing speed of Zynq7 to complete image processing functions such as image data acquisition, image enhancement, mean value removal normalization and the like, utilizes an AXI (advanced extensible interface) bus in Zynq7 to complete large data transmission and communication control transmission functions, and a PS (packet switched) end of Zynq7 is mounted with a Linux system to complete preparation of a tracking template, search and track and complete an image storage function through a gigabit network port.
The power supply control module disclosed by the invention is shown in fig. 4, the characteristic of low power consumption under the condition that the unmanned aerial vehicle flies is fully considered, the hardware architecture is simplified, the selected chips are all low-power chips, the internal power chips are all subjected to sleep management design, all power supplies on a processing platform are separately controllable, and the whole board or part of devices can be switched into a sleep mode according to different running states. Under the condition that the processing intensity of the platform is maximum, the maximum power consumption is 9W and is far lower than that of other platforms of the same type. Meanwhile, the platform supports a standby mode, and power-off and power-on of the whole board can be realized through simple logic control.
Claims (3)
1. A search tracking system based on unmanned aerial vehicle hanging flight is characterized by comprising a processor Zynq7, a high-speed cache chip DDR3SRAM, a program storage chip FLASHN25Q256, a label storage chip AT24C08, an external large-capacity storage chip NANDFLASHMTFC64GD, a gigabit network port, a synchronous serial port, a 422 interface, a 232 interface chip and a power supply control module; the processor Zynq7 completes external image data receiving, the analyzed image is stored in a cache chip DDR3, searching and tracking operation is completed, control information is sent to an external servo control system through a synchronous serial port and an RS422 interface, meanwhile, according to the instruction requirement, the processor Zynq7 stores the work information in a tag memory chip AT24C08, the image in the required time period is stored in an externally-hung large-capacity memory chip NANDFLASHMTFC64GD for subsequent reading and analysis, a program memory chip FLASHN25Q256 is used for storing a curing program of the processor Zynq7, a gigabit network port is used for original image transmission, and an RS232 interface is used for debugging an ARM (advanced RISC machine) ARM (advanced RISC) machine) of the processor Zynq 7; the power supply management and control module carries out dormancy management design on power chips in the system, all device power supplies are controlled to be switched on, and the whole board or part of devices are switched into a dormancy mode according to different running states.
2. The unmanned aerial vehicle hanging-off-based search and tracking system as claimed in claim 1, wherein the search and tracking operation includes that the PL side of the processor Zynq7 uses a Camlink protocol parsing module to complete reception of high-frame-rate high-definition image data, scale conversion is performed on image data in a real-time video according to a fixed format to obtain a target reference image, the target reference image is sent to the PS side of the processor Zynq7 through an AXI bus and a cache chip DDR3, the PS side intercepts image data in a target coordinate area in the reference image according to instruction information to prepare a target tracking template, and the target template is sent to the PL side through the AXI bus; the PL end of the processor Zynq7 completes the correlation operation of mean value removal normalization product by using a reference graph and a target tracking template, and sends the correlation matrix data back to the PS end of the processor Zynq7 through an AXI bus; and the PS end of the processor Zynq7 reads the product correlation result, carries out extremum searching and primary and secondary peak ratio operation, further obtains the target position coordinate, transmits the target position coordinate back to the PL end of the processor through an AXI bus, and transmits the position coordinate information to a control system through a control communication module to complete target searching and tracking.
3. The unmanned aerial vehicle hanging-off-based search and tracking system as claimed in claim 1, wherein both PL and PS inside the processor Zynq7 can access a cache chip DDR3 memory through an HP high-speed port of an AXI bus, a PL end completes data acquisition, preparation of a reference map is placed in the cache chip DDR3, and a PS end can directly call image data when preparing a target tracking template, intercept image information, search and track control functions, and an AXI bus GP low-speed port completes a communication function.
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| CN201811418069.0A CN111225181A (en) | 2018-11-26 | 2018-11-26 | Search tracking system based on unmanned aerial vehicle hangs and flies |
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| CN112581509A (en) * | 2020-12-25 | 2021-03-30 | 北京环境特性研究所 | SOPC-based unmanned aerial vehicle-mounted ground target real-time tracking system and method |
| CN118192389A (en) * | 2024-05-15 | 2024-06-14 | 贵州航天控制技术有限公司 | Flight control system based on ZYNQ7 |
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