大家都知道，无人机巡检系统，有效解决了传统巡查工作空间和时间局限问题，降低人力工作成本，有效替代人工巡检工作模式。智能巡检系统通过人工智能技术和机械智能技术完美结合，在工业等场景下，应用非常广泛。本文旨在讲如何实现无人机（如大疆无人机）数据到GB28181平台（如海康、大华、宇视等国标平台）。
本文以Android平台接入大疆无人机为例，首先，无人机可以通过厂商提供的接口，回调编码后的H.264/H.265数据，需要注意的是，由于GB/T28181-，官方规范，仅对H.264做过描述，考虑到系统通用性和尽可能的规避转码带来的性能或使用体验问题，一般建议H.264编码。
无人机的数据会上来后，可以通过编码后的数据接口，投递到JNI层，把视音频数据封装成PS包，让把PS包以负载的方式封装成RTP包，完成媒体数据的上传即可。
本文以转发的模块为例说明，无图无真相：
具体实现：APP启动后，我们先点击启动GB28181按钮，完成到国标平台的注册，并通过心跳机制，保持和国标平台端的通信。
当国标平台端，需要查看无人机的实时画面时，可以发送Invite，请求无人机画面，Android平台GB28181接入模块，这时启动拉取无人机回调数据，并完成数据投递，和H.264到PS到RTP的打包上传即可。
/** MainActivity.java* GitHub: /daniulive/SmarterStreaming*/class ButtonGB28181AgentListener implements OnClickListener {public void onClick(View v) {stopGB28181Stream();destoryRTPSender();if (null == gb28181_agent_ ) {if( !initGB28181Agent() )return;}if (gb28181_agent_.isRunning()) {gb28181_agent_.terminateAllPlays(true);// 目前测试下来,发送BYE之后,有些服务器会立即发送INVITE,是否发送BYE根据实际情况看gb28181_agent_.stop();btnGB28181Agent.setText("启动GB28181");}else {if ( gb28181_agent_.start() ) {btnGB28181Agent.setText("停止GB28181");}}}}//停止GB28181 媒体流private void stopGB28181Stream() {if(!isGB28181StreamRunning)return;if (libPublisher != null) {libPublisher.StopGB28181MediaStream(publisherHandle);}if (!isRecording && !isRTSPPublisherRunning && !isPushing) {if (publisherHandle != 0) {if (libPublisher != null) {libPublisher.SmartPublisherClose(publisherHandle);publisherHandle = 0;}}}isGB28181StreamRunning = false;}
开放的video数据投递接口如下：
/*** 设置编码后视频数据(H.264)** @param codec_id, H.264对应 1** @param data 编码后的video数据** @param size data length** @param is_key_frame 是否I帧, if with key frame, please set 1, otherwise, set 0.** @param timestamp video timestamp** @param pts Presentation Time Stamp, 显示时间戳** @return {0} if successful*/public native int SmartPublisherPostVideoEncodedData(long handle, int codec_id, ByteBuffer data, int size, int is_key_frame, long timestamp, long pts);
如果还有audio的话，audio数据接口如下：
/*** 设置音频数据(AAC/PCMA/PCMU/SPEEX)** @param codec_id:** NT_MEDIA_CODEC_ID_AUDIO_BASE = 0x10000,* NT_MEDIA_CODEC_ID_PCMA = NT_MEDIA_CODEC_ID_AUDIO_BASE,* NT_MEDIA_CODEC_ID_PCMU,* NT_MEDIA_CODEC_ID_AAC,* NT_MEDIA_CODEC_ID_SPEEX,* NT_MEDIA_CODEC_ID_SPEEX_NB,* NT_MEDIA_CODEC_ID_SPEEX_WB,* NT_MEDIA_CODEC_ID_SPEEX_UWB,** @param data audio数据** @param size data length** @param is_key_frame 是否I帧, if with key frame, please set 1, otherwise, set 0, audio忽略** @param timestamp video timestamp** @param parameter_info 用于AAC special config信息填充** @param parameter_info_size parameter info size** @return {0} if successful*/public native int SmartPublisherPostAudioEncodedData(long handle, int codec_id, ByteBuffer data, int size, int is_key_frame, long timestamp,ByteBuffer parameter_info, int parameter_info_size);
其他信令交互流程前面提到很多次了，本文不再赘述，这里主要看看Invite和Ack的处理：
先看Invite处理：
@Overridepublic void ntsOnInvitePlay(String deviceId, PlaySessionDescription session_des) {handler_.postDelayed(new Runnable() {@Overridepublic void run() {MediaSessionDescription video_des = session_des_.getVideoDescription();SDPRtpMapAttribute ps_rtpmap_attr = video_des.getPSRtpMapAttribute();Log.i(TAG,"ntsInviteReceived, device_id:" +device_id_+", is_tcp:" + video_des.isRTPOverTCP()+ " rtp_port:" + video_des.getPort() + " ssrc:" + video_des.getSSRC()+ " address_type:" + video_des.getAddressType() + " address:" + video_des.getAddress());// 可以先给信令服务器发送临时振铃响应//sip_stack_android.respondPlayInvite(180, device_id_);long rtp_sender_handle = libPublisher.CreateRTPSender(0);if ( rtp_sender_handle == 0 ) {gb28181_agent_.respondPlayInvite(488, device_id_);Log.i(TAG, "ntsInviteReceived CreateRTPSender failed, response 488, device_id:" + device_id_);return;}gb28181_rtp_payload_type_ = ps_rtpmap_attr.getPayloadType();gb28181_rtp_encoding_name_ = ps_rtpmap_attr.getEncodingName();libPublisher.SetRTPSenderTransportProtocol(rtp_sender_handle, video_des.isRTPOverUDP()?0:1);libPublisher.SetRTPSenderIPAddressType(rtp_sender_handle, video_des.isIPv4()?0:1);libPublisher.SetRTPSenderLocalPort(rtp_sender_handle, 0);libPublisher.SetRTPSenderSSRC(rtp_sender_handle, video_des.getSSRC());libPublisher.SetRTPSenderSocketSendBuffer(rtp_sender_handle, 2*1024*1024); // 设置到2MlibPublisher.SetRTPSenderClockRate(rtp_sender_handle, ps_rtpmap_attr.getClockRate());libPublisher.SetRTPSenderDestination(rtp_sender_handle, video_des.getAddress(), video_des.getPort());if ( libPublisher.InitRTPSender(rtp_sender_handle) != 0 ) {gb28181_agent_.respondPlayInvite(488, device_id_);libPublisher.DestoryRTPSender(rtp_sender_handle);return;}int local_port = libPublisher.GetRTPSenderLocalPort(rtp_sender_handle);if (local_port == 0) {gb28181_agent_.respondPlayInvite(488, device_id_);libPublisher.DestoryRTPSender(rtp_sender_handle);return;}Log.i(TAG,"get local_port:" + local_port);String local_ip_addr = IPAddrUtils.getIpAddress(context_);gb28181_agent_.respondPlayInviteOK(device_id_,local_ip_addr, local_port);gb28181_rtp_sender_handle_ = rtp_sender_handle;}private String device_id_;private PlaySessionDescription session_des_;public Runnable set(String device_id, PlaySessionDescription session_des) {this.device_id_ = device_id;this.session_des_ = session_des;return this;}}.set(deviceId, session_des),0);}@Overridepublic void ntsOnCancelPlay(String deviceId) {// 这里取消Play会话handler_.postDelayed(new Runnable() {@Overridepublic void run() {Log.i(TAG, "ntsOnCancelPlay, deviceId=" + device_id_);destoryRTPSender();}private String device_id_;public Runnable set(String device_id) {this.device_id_ = device_id;return this;}}.set(deviceId),0);}
Ack后调用StartGB28181MediaStream()，开始发送大疆无人机编码后的数据到国标平台端。
@Overridepublic void ntsOnAckPlay(String deviceId) {handler_.postDelayed(new Runnable() {@Overridepublic void run() {Log.i(TAG,"ntsOnACKPlay, device_id:" +device_id_);if (!isRecording && !isRTSPPublisherRunning && !isPushing) {OpenPushHandle();}libPublisher.SetGB28181RTPSender(publisherHandle, gb28181_rtp_sender_handle_, gb28181_rtp_payload_type_, gb28181_rtp_encoding_name_);int startRet = libPublisher.StartGB28181MediaStream(publisherHandle);if (startRet != 0) {if (!isRecording && !isRTSPPublisherRunning && !isPushing) {if (publisherHandle != 0) {libPublisher.SmartPublisherClose(publisherHandle);publisherHandle = 0;}}destoryRTPSender();Log.e(TAG, "Failed to start GB28181 service..");return;}isGB28181StreamRunning = true;}private String device_id_;public Runnable set(String device_id) {this.device_id_ = device_id;return this;}}.set(deviceId),0);}
需要注意的是，可以在国标平台端发起Invite请求，到Ack完成后，才开始调用大疆无人机的接口回调H.264数据，有些型号的无人机，也可以回调编码前的yuv/nv12等格式数据，这种我们也可以处理，自己编码即可。
由于无人机的特殊性，携带经纬度信息，也可以通过GB28181位置订阅(MobilePosition)实现无人机实时位置的更新。
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