The Research Of Video Transmission And Moving Object Tracking On UAV Based On SOC

In recent years,the research of "artificial intelligence" is in full swing.In the study area of intelligent surveillance,the research of moving target detection is very important.As an embeded system platform,the typical representative of UAVs——Quadrotor has high mobility and imperceptibility.If the quadrotor carries a camera,real-time transmission of video from sky is implemented.Meanwhile,we can use moving target detection to control quadrotor so that it can follow the moving target.This can be very useful in civil and military fields.However,with limited processing capability,the embeded system platform on quadrotor can’t handle complex algorithm of moving target detection,so it is difficult to achieve real-time moving target detectiong and tracking.In this paper,we transfer the real-time video through Wifi,and use optical flow algorithm to detect the moving target so that the quadrotor can follow it.The main contents are as follows: 1、 Introduce HS Dense optical flow algorithm and LK Sparse optical flow algorithm.Focus on the calculation procedure and parallelism analysis of HS optical flow algorithm.This providcal basis of this paper.2、Propose the overall design and choose hardware platform.In order to achieve the hardware acceleration of optical flow algorithm and high-speed coordination between software and hardware,we choose Zynq-7000 from Xilinx to be the hardware platform.3、Use the PL side of Zynq-7010 to collect the image data,transfer format.Use the PS side to package the image data and do the wireless transmission.In the end,the image data is received、decoded and displayed on the Andoid client.The main course of this are socket programming and JPEG image coding and decoding.4、Use the FPGA of PL side to design convolution calculation module、SOR iteration algorithm module and the intellectual property core of HS optical flow algorithm.Use this IP core to get the coordinate information of moving target.In the end,use the PS side to send the control signal to flight control unit by serial port so that the quadrotor can follow the moving target.5、Test the functionality and performance of the whole system.Analyze and summarize the test result,then prospect the next work.