2026-01-19 17:08:49 +08:00
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# SkyLink 项目总览
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## 🎯 项目目标
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SkyLink 是一个**多平台实时视频传输系统**，旨在为无人机、移动机器人和其他移动平台提供低延迟、高可靠性的实时视频流传输和地面控制能力。
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## 🌟 核心特性
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| 特性 | 说明 |
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|------|------|
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| 📺 **实时传输** | 低延迟的 UDP 广播，支持高清视频实时显示 |
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| 🌐 **多平台支持** | 机载端 (ROS 2)、PC 地面站 (Qt 6)、移动端 (Android) |
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| 📍 **GPS 集成** | 实时位置标注和轨迹记录 |
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| 📊 **智能压缩** | 自适应 JPEG 压缩，根据网络状况动态调整质量 |
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| 📈 **完整统计** | FPS、丢包率、带宽等实时统计 |
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| 💾 **数据记录** | 支持本地视频和 GPS 日志保存 |
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| 🔄 **自动重组** | UDP 分片自动检测和重组 |
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| 🎨 **现代化 UI** | Qt 6 美观界面 + Android Material Design |
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---
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## 📂 项目结构
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```
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SkyLink/
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├── README.md # 项目说明
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├── INSTALL.md # 安装编译指南
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├── PROTOCOL.md # 协议规范
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├── CONTRIBUTING.md # 贡献指南
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├── LICENSE # MIT 许可证
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│
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├── protocol/ # [核心] 公共协议定义
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│ ├── protocol.h # C++ 结构体定义
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│ └── Protocol.kt # Kotlin 参考实现
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│
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├── skylink_ros2/ # [机载端] ROS 2 工程
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│ ├── src/skylink_bridge/
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│ │ ├── include/ # 头文件
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│ │ ├── src/ # 源文件
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│ │ ├── launch/ # 启动脚本
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│ │ ├── config/ # 参数配置
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│ │ ├── CMakeLists.txt
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│ │ └── package.xml
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│ └── build.sh # 快速编译脚本
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│
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├── skylink_qt_station/ # [PC端] Qt 工程
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│ ├── src/ # 源代码
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│ │ ├── main.cpp
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│ │ ├── MainWindow.*
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│ │ ├── GroundReceiver.*
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│ │ └── DataLogger.*
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│ ├── forms/ # UI 文件
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│ ├── resources.qrc
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│ └── CMakeLists.txt
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│
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├── skylink_android_app/ # [移动端] Android 工程
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│ ├── app/
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│ │ ├── build.gradle.kts
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│ │ └── src/main/
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│ │ ├── AndroidManifest.xml
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│ │ ├── java/com/skylink/app/
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│ │ │ ├── MainActivity.kt
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│ │ │ ├── network/
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│ │ │ └── utils/
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│ │ └── res/
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│ ├── build.gradle.kts
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│ └── settings.gradle.kts
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│
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└── docker-compose.yml # Docker 部署
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```
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---
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## 🚀 快速开始
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### 1️⃣ 克隆仓库
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```bash
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git clone https://github.com/skylink-team/skylink.git
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cd skylink
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```
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### 2️⃣ 机载端启动（ROS 2）
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```bash
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cd skylink_ros2
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./build.sh
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source install/setup.bash
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ros2 launch skylink_bridge bridge.launch.py
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```
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### 3️⃣ PC 端启动（Qt 地面站）
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```bash
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cd ../skylink_qt_station
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mkdir build && cd build
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cmake ..
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make
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./skylink_station
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```
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### 4️⃣ 移动端启动（Android）
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在 Android Studio 中打开 `skylink_android_app`，编译并安装 APK：
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```bash
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Build > Build Bundle(s) / APK(s) > Build APK
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```
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---
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## 🔧 系统需求
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| 平台 | 最低要求 | 推荐配置 |
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|------|--------|--------|
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| **ROS 2 机载** | Ubuntu 20.04, ROS 2 Foxy | Ubuntu 22.04, ROS 2 Humble |
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| **Qt PC 地面站** | Windows 10 / Linux / macOS | Windows 11 + Qt 6.5+ |
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| **Android 移动** | Android 11 (API 30) | Android 12+ (API 31+) |
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---
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## 📊 性能指标
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### 机载端 (ROS 2)
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- 🎥 **支持分辨率**: 320×240 ~ 1920×1080
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- ⚡ **帧率**: 15 ~ 30 FPS (取决于网络)
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- 🗜️ **压缩方案**: JPEG (质量可调, 1-100)
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- 📡 **传输**: UDP 广播 (端口 9999)
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- 💾 **资源占用**: ~50 MB 内存, 20-30% CPU (树莓派 4)
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### PC 端 (Qt)
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- 📺 **解码**: 硬件加速 (OpenGL)
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- ⏱️ **显示延迟**: < 100 ms (局域网)
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- 🗺️ **地图支持**: GPS 实时标注和轨迹
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- 📊 **统计显示**: FPS, 丢包率, 带宽
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- 💾 **录制**: 支持批量保存帧和 CSV 日志
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### 移动端 (Android)
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- 📱 **适配**: 手机 + 平板
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- 🖼️ **显示**: 实时预览 + 缩放
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- 🔍 **性能**: 耗电量 < 10% (Snapdragon 8)
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- 📍 **GPS**: 实时位置显示
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- 💾 **存储**: 自动本地备份
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---
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## 🏗️ 核心架构
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### 数据流
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```
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ROS 2 机载端
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↓ (相机 + GPS)
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编码为 JPEG + 分片
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↓ (UDP 广播)
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网络传输 (局域网 / WiFi)
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↓
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接收端接收
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↓ (收集分片)
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重组 JPEG 数据
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↓ (解码)
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显示到屏幕
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↓
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可选：保存文件或处理
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```
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### 核心组件
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| 组件 | 说明 | 技术栈 |
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| **协议层** | 统一的数据包定义 | C++ Header / Kotlin Data Class |
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| **机载端** | 图像采集 + 编码 | ROS 2 + OpenCV + JPEG |
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| **PC 端** | UDP 接收 + 重组 + 显示 | Qt 6 + OpenGL |
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| **移动端** | UDP 接收 + 解码 | Android + Coroutines |
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---
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## 📚 文档导航
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| 文档 | 内容 |
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|------|------|
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| [README.md](README.md) | 快速开始、架构、启动命令 |
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| [INSTALL.md](INSTALL.md) | 详细的安装和编译步骤 |
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| [PROTOCOL.md](PROTOCOL.md) | 数据包结构、协议规范 |
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| [CONTRIBUTING.md](CONTRIBUTING.md) | 贡献指南、编码规范 |
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---
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## 🎯 主要用途
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### 1. 无人机遥控
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```
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ROS 2 自主控制器 + 摄像头
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→ UDP 广播视频流
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→ PC 地面站实时监看
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→ 操作员远程决策
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```
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### 2. 移动机器人监控
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```
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机器人搭载摄像头 + GPS
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→ 通过 WiFi 传输视频
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→ Android APP 实时接收
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→ 云端存储日志
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```
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### 3. 户外勘测
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```
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手持摄像设备 + ROS 节点
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→ 实时采集视频和位置
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→ PC 端地面站绘图
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→ 生成任务地图
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```
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---
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## 💡 创新亮点
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1. **跨平台统一协议** - 单一协议支持所有端
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2. **自适应压缩** - 根据网络状况自动调整质量
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3. **无缝 GPS 集成** - 每帧数据都带有位置信息
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4. **高效分片重组** - 支持 UDP 乱序和丢包
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5. **模块化设计** - 易于扩展和集成
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---
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## 🔮 后续规划
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### 短期 (v1.1)
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- [ ] 启用 CRC16 校验和错误检测
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- [ ] 支持录音轨道
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- [ ] 改进 UI 响应速度
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### 中期 (v2.0)
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- [ ] 基于 QUIC 协议的改进
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- [ ] 多路视频流支持
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- [ ] 云端数据同步
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- [ ] AI 目标检测集成
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### 长期 (v3.0)
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- [ ] 支持 5G 和边缘计算
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- [ ] 实时 3D 地图构建
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- [ ] 高精度 RTK-GNSS 定位
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- [ ] WebRTC 网页客户端
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---
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## 📞 联系方式
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- 📧 **邮件**: support@skylink.dev
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- 🐙 **GitHub**: https://github.com/skylink-team/skylink
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- 💬 **讨论**: GitHub Discussions
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- 🔔 **问题**: GitHub Issues
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---
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## 📜 许可证
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本项目采用 **MIT License** 开源。详见 [LICENSE](LICENSE)。
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---
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## 🙏 感谢
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感谢所有贡献者的辛勤工作！
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## Contributors
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<a href="https://github.com/skylink-team/skylink/graphs/contributors">
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<img src="https://contrib.rocks/image?repo=skylink-team/skylink" />
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</a>
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---
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**⭐ 如果您觉得这个项目有帮助，请给个 Star！**
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2026-01-20 10:41:22 +08:00
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**最后更新**: 2026-01-19 | **维护者**: flowzl
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