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2018 International Conference on Sensor Network and Computer Engineering (ICSNCE 2018) 
75 
 
Research and Implementation of the Key Technology of UAV Aerial Image 
Transmission 
Fan Yijun 
No.1 Institute of Geological & Mineral  
Resources Survey of Henan 
Lluoyang, 471023, Henan 
Provincial Key Laboratory of Gold and Silver 
Metallogenic Series and Deep Prediction, 
Luoyang, 471023, Henan, China 
e-mial: fanyijun1681@163.com 
Lai Yufeng 
School of Computer Science and Engineering 
Xi’an Technological University 
Xi’an, 710021, Shaanxi, China 
e-mail: 604612675@qq.com 
 
 
 
 
 
Abstract—With the maturity of UAV technology, especially the 
cost of the four rotor unmanned aerial vehicle is decreasing, 
the unmanned aerial vehicle (UAV) will be a trend in the 
future. At the same time, because ZigBee has the 
characteristics of low cost, low speed and short transmission 
distance, we use ZigBee to achieve the transmission of image 
files between UAV and ground receiving system computers. 
This paper introduces the system design and software program 
module hardware node design, the first use of ZigBee wireless 
network as a data link, and then collected by the UAV to the 
ground of the computer image transmission, in the process of 
transmission by subcontracting, merging, stop and wait 
Agreement to ensure the correctness of data transmission right. 
Through experimental test, the correct transmission of image 
files between UAV and ground end computer can be realized 
when the image data is less than 1024K bytes. 
Keywords-ZigBee; UAV; Mapping; Image; Transmission 
I. INTRODUCTION 
At present, in the commercial mobile communication 
network coverage, the image can be transmitted through the 
4G network [1]. However, in some specific cases, the 
commercial mobile communication network can not be used 
when there is a problem with the base station transmitting 
the signal or when it is far from the coverage area of the 
transmitting base station. The ZigBee technology can be a 
very good solution to this drawback, just a gateway node can 
self-organize a network, other nodes can join directly or 
through multi-hop approach to join the network. 
This paper proposes a ZigBee-based image file transfer 
system. Although ZigBee has the disadvantages of small 
bandwidth and low transmission rate, it can achieve very 
good wireless data transmission in applications where the 
data size is general and real-time performance is not high. 
Based on the image transmission of UAV, this paper studies 
the data transmission process of image files. 
II. SYSTEM DESIGN 
The system is mainly composed of two parts, a UAV and 
a ground computer. The ground computer mainly realizes the 
display and image processing of the human-computer 
interaction interface, and the UAV mainly realizes the image 
acquisition and transmission. The routing node and the 
gateway node part of the system use the ZigBee CC2530 kit 
[2]. The CC2530 not only supports the practical application 
of the 2.4GHz IEEE802.15.4/ZigBee standard, but also 
enables the establishment of powerful networks. The 
structure of this system is shown in Figure 1 
A. Ground Computer 
The ground computer completes the processing of the 
received data and displays the human-computer interaction 
interface. It is based on visual C++6.0 and MSComm. 
The MSComm control receives data through the serial 
port and provides a serial communication channel for the 
application. It is a simplified Windows-based serial 
communication programming Active control provided by 
2018 International Conference on Sensor Network and Computer Engineering (ICSNCE 2018) 
76 
 
Microsoft Corporation. Two methods are provided to deal 
with communication problems. One is the event-driven 
method and the other is the query method. This paper uses 
the event-driven method. [3]Event-driven is a very effective 
way to handle serial port interactions. In many cases, events 
need to be notified when they occur. 
 
Figure 1. Structure of the system 
B. UAV System 
In this paper, UAV image transmission adopts the 
CC2530 kit of DTK Company, which uses three kinds of 
nodes: terminal node, routing node and central node (set the 
node of ZigBee module through DTK ZigBee Configuration 
and set it to the required node type. )[4]. The terminal node 
is connected to the UAV CPU through the RS232 serial port. 
After the UAV acquires the video data, it is transmitted to 
the terminal section through the serial port RS232. The data 
sent by the terminal node is received by the routing node. 
The central node is connected to the receiving end computer 
through the RS232 serial cable. The data sent by the routing 
node is received by the central node and transmitted to the 
ground computer through the RS232 serial port line. The 
UAV processes the image data, and then completes 
operations such as decoding and merging of the data. The 
receiver determines the next operation by using the 
human-computer interaction interface to determine the 
reception status of the image file [5]. 
III. SOFTWARE IMPLEMENTATION 
The data transmission system of this paper is composed 
of three modules: data processing module, ZigBee data 
transmission module, data transmission and data reception. 
as shown in Figure 2. 
 
Figure 2. Module of Image transmission process 
2018 International Conference on Sensor Network and Computer Engineering (ICSNCE 2018) 
77 
 
A. Data Receiver Module Programming 
The image receiving part is programmed by Visual C++ 
installed on the ground computer to process the received data 
to ensure the integrity and correctness of the data in the 
ZigBee wireless network [6]. Obviously, when the set packet 
is larger, the data transmission time is shorter, and on the 
contrary, the transmission time is longer. The size of the 
package can be set according to actual needs. When the 
timeliness requirements are relatively high, the package can 
be divided into larger points. When the accuracy is required 
to be higher, the package can be smaller. 
B. ZigBee Data Transmission Module Programming 
ZigBee data transmission module realizes the function of 
correct data transmission. When the sending end computer 
sub-packets the data and names each package, it will connect 
the sub-packages in turn, and they are connected through the 
ZigBee module connected to the RS232 serial port. Data is 
transmitted in a ZigBee wireless network. Data is transmitted 
to a routing node through a terminal node and finally to a 
central node. The central node will receive each packet in 
sequence and transmit the data to the receiving end computer 
through the RS232 serial cable. The receiving end computer 
performs a series of operations on the uploaded data, 
including decoding, merging, storage, etc., and finally 
completes the data transmission operation. 
C. Data Selection and Saving Module Programming 
When the UAV sends data, first, the file is compressed 
and sub-packaged at the sender, and then transmitted in turn 
according to the compression algorithm. The receiving end 
computer receives the uploaded sub-packets in sequence and 
compares the received sub-packing sequence number with 
the local receiving state variable. In the first case, the two are 
equal, indicating that this is a new data packet. In this case, 
the receiving end computer receives the data packet and 
sends the confirmed message. The second case is that the 
two are not equal, the receiving end computer directly 
discards the sub-packet, and then sends a retransmission 
message to the sending end. The correctly received 
subcontracts are subjected to the following operations, 
including unpacking, saving, and merging, and are named 
before the "-", and then the entire file is saved in jpg format. 
The receiving progress of the file and the preservation of the 
file can be seen on the human-computer interaction interface 
of the receiving end computer. If you want to find a file that 
has been received, you can open it by finding the location 
where you want to save the file on the host computer. You 
can view and edit it. 
IV. DATA FRAME FORMAT 
The ZigBee network uses the center coordinator to create 
the network. When a node joins, it assigns addresses to the 
joining nodes so that they can form a star network, a tree 
network, and a mesh network. The required networks can be 
organized as needed so that the nodes joining the network 
can communicate with each other.  
The ZigBee network supports the mutual transmission of 
data between any node in the network. Data transmission 
modes between nodes include transparent transmission and 
point-to-point transmission. 
V. KEY TECHNOLOGIES 
This paper adopts key technologies such as image 
subcontracting and merging between a UAV and a ground 
computer. It has the advantages of low cost and simple 
operation, and is characterized by safe, stable and 
cost-effective file transfer. 
A. Document Subcontracting Process 
When the UAV sends an image, it first compresses the 
image file and then calculates the number of bytes of the 
compressed file. If the data volume does not exceed the 
sub-packet limit, the data is sent directly. If the file data 
volume is greater than the sub-packet limit, the data should 
be sub-packaged. The process of file subcontracting is as 
follows. First, the name of the file is obtained, and the file 
name is placed in the first package for transmission. The 
name of the file should not exceed the upper limit of the 
packet, which is 73 bytes, telling the receiver that the sender 
will send the file with this name. Then, according to the 
actual situation, the file is sub-packaged, and the sub-packet 
file name is changed to the form of <"source file 
name"+"-"+"divided serial number i">. This cycle continues 
2018 International Conference on Sensor Network and Computer Engineering (ICSNCE 2018) 
78 
 
until the subcontracting operation is completed and the 
sub-packages are saved in the folder specified by the 
computer. After the subcontracting is completed, the divided 
data packets are transmitted through the ZigBee wireless 
network. As shown in Figure 3. 
Determine the file size
Less than 73 bytes
Read 73-byte packet for a new file, 
file name suffix number +1
Write the remaining bytes 
to the new file, the file 
name suffix number +1
Store the packaged file 
in a specified package 
on your computer
Waiting to transfer files
Yes
No
 
Figure 3. Process of image file subcontracting  
B. Stopping the Waiting Protocol 
After the file subcontracting process is completed, the 
subcontracted files are sequentially transmitted in order. In 
order to ensure the correctness of data transmission, the 
receiving end computer sends a confirmation message after 
receiving the subcontracting. According to the received 
confirmation message, the UAV determines whether the 
subcontracting is successful and whether it needs to re-send 
the subcontract. If the transmission succeeds, it sends the 
next packet and deletes the packet that was sent successfully. 
If it fails, it resends the packet until it is sent successfully or 
reaches the set upper limit [7]. So how does the computer 
perform the above operations? It is to stop waiting for the 
agreement. 
The stop waiting protocol means that after the small 
packet file is transmitted to the receiving end through the 
ZigBee wireless sensor network, it will send a new packet 
only after receiving the confirmation packet with the correct 
sequence number, otherwise it will resend the data packet 
just sent. 
C. File Consolidation Process 
The sub-packed image files are received by the receiver 
in sequence according to the transmission order after the stop 
wait protocol. The receiving end saves the received file in a 
folder specified by the computer and merges the small file 
into a large file. The large file is named with the "file name" 
of the small file name. After each successful merge, the 
received new file is packetized and deleted. Save the merged 
file in a specified location on your computer. Looping like 
this to complete the merging of files completes the reception 
of the entire file [8]. 
VI. SYSTEM TESTING 
The system uses a UAV and a ground computer to 
achieve system functions. First use a RS232 serial cable to 
connect a ZigBee communication module to the receiving 
computer. If the tested UAV is far away from the computer, 
you need to set up a routing node to relay the sent file. If the 
UAV is close to the computer, there is no need to set up. A 
terminal node or a central node can complete the system test. 
2018 International Conference on Sensor Network and Computer Engineering (ICSNCE 2018) 
79 
 
Then power on the ZigBee module. After the system is 
powered on, configure a star network according to the 
settings to implement the wireless data transmission function. 
The resulting hexadecimal code is shown in Figure 4. After 
clicking the display button, the actual image after conversion 
appears. The number of pixels in the image is 339*272. The 
image size is about 90KB. The image is clear and the effect 
is good, as shown in Figure 5. In the case that the resolution 
requirement is not high enough, it meets the general 
requirements for reading geological features.
 
Figure 4. Image hexadecimal representation figure 
 
Figure 5. Image display figure 
VII. CONCLUSION 
In this paper, based on the study of the characteristics of 
ZigBee wireless network, a wireless image transmission 
system of UAV based on ZigBee is proposed. Through the 
system design, the workflow of the whole system is 
introduced, and the hardware design, software design, key 
technologies of data transmission and system testing are 
given. The hardware design includes hardware selection and 
hardware implementation. Software design includes data 
processing, ZigBee network and human-computer interaction 
interface. Key technologies introduced subcontracting, 
stop-waiting protocols, and mergers. Finally, the function of 
this system was introduced, and the "image transmission" 
function of the system was tested. This system is based on 
the simple and flexible ZigBee wireless network. It has the 
characteristics of low hardware cost, simple software 
programming, and has a certain application prospect. 
REFERENCES 
[1] Lu Zhian. ZigBee network principle and application development 
[M]. Beijing: Beijing University of Aeronautics and Astronautics 
Press, 2008. 
[2] Yang Fubao. Research design of data transmission system based on 
ZigBee[D]. Wuhan University of Technology, 2011. 
[3] Yao Zhandong. A LAN-based File Transfer Technology. Computer 
Applications, 2004: 45-47. 
[4] Cai Wenjing. Wireless data acquisition system based on ZigBee 
technology[D]. Hangzhou Dianzi University, 2011:1-5. 
[5] Z. Q. Song, X. Z. Zhou, and L. Wang, “Research on wireless image 
transmission based on ZigBee,” Computer Applications and Software 
vol. 29, no. 7, pp. 1-5, 2012. 
[6] J. Lloret, I. Bosch, S. Sendra, and A. Serrano, “A wireless sensor 
network for vineyard monitoring that uses image processing,” 
Sensors, vol. 11, no. 6, pp. 6165-6196, 2011. 
[7] D. G. Lowe. Distinctive Image Features from Scale-Invariant 
Keypoints[J]. International Journal of Computer Vision.2014, 60(2): 
91-110. 
[8] C. Harris, M. J. Stephens. A Combined Corner and Edge Detector[C]. 
Prco of the 4th Alvey Vision Conf, 2015 
 


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