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Parrot ANAFI Ai – The 4G Robotic UAV
“Parrot believes that drones are useful for everyday business. They must be easy to use and adaptable to complex missions.
In the animal kingdom, there is no known species that has optical sensors distributed around its body. No insect, bird, fish, or mammal has developed a “visual perception system” of sensors, despite each species needing to detect obstacles or predators in all directions in order to survive.
Natural evolution has led to the most widespread and efficient solution. For example:
- mobile heads that can be oriented on 3 axes: left/right (yaw), up/down (pitch), and also to a lesser extent with respect to the horizon (roll);
- this integrates a unique pair of sensors adapted to the animal’s behavior, and installed on a vertical plane of the face for tree-dwelling primates from which we descend, or directed more laterally for equids for example;
- the pair of sensors are generally mobile on 2 axes: left/right (yaw axis) and up/down (pitch axis).
This visual perception is created of a pair of sensors (the eyes) mobile on 5 free axes (the movements of the head and eyes in their orbits).
In biology, we also see this in the evolution of the optic nerve. For most species, the optic nerve is the largest of its kind; it transmits large amounts of information across the body to its cerebral support. It is also a very short nerve made up of a bundle of cerebral fibers. When we apply this to a drone, the link (the bus) between the sensor and the processor requires an essential exchange of information, which implies optimizing the length of the bus.
Anatomically, the head of some species is often detached from the rest of the body. Some flying species (insects, birds, mammals) have their head located at the front of its frame, extending the view of the rest of the body – especially its wings. The placement of its head also allows its eyes to be positioned in such a way as to have an excellent field of view in all directions, and turning the head allows most flying species to see precisely behind them.
Thus, from this system of visual perception and from this cerebral support emerges the cognitive functions, in this case the perceptive and conceptual functions.
It is from this system of visual perception and cerebral support emerges the cognitive functions – in this case the perceptive and conceptual functions.
With this is in mind, Parrot has designed the ANAFI Ai obstacle avoidance system.”
Henri Seydoux – CEO and founder of Parrot
Connectivity
Key Features
- Ability to conduct BVLOS flights
- Always connected, worldwide continuous connection to the Internet
- Worldwide LTE compatibility
- Real time streaming with 12 Mbps video bitrate / Low latency 1080p streaming
- In-flight cloud file transfer
- Powered by Verizon 4G LTE in the US
4G: Internet connectivity Connected without range limit
ANAFI Ai integrates a 4G radio module (in addition to the Wi-Fi radio) allowing to transmit a video in 1080p with a very low latency (300 ms) without range limit and everywhere in the world.
Compatibility
The ANAFI Ai 4G module supports more than 28 frequency bands, covering more than 98% of the frequencies deployed around the world.
Automatic network switch
The quality and capacity of the 4G and Wi-Fi networks are measured every 100 ms to adapt the streaming to the network conditions. Combined with the routing algorithms, the connection between the drone and its controller is maintained even when the Wi-Fi is strongly disrupted. Thus, when the effective throughput (goodput) of Wi-Fi is lower than 1.5 MBps, the system automatically switches to 4G.
To limit mobile data consumption when the pilot is within range of the drone’s Wi-Fi network, the 4G to Wi-Fi transition is also automatically performed, without video stream cut.
The implemented video stream optimization algorithms:
“Congestion control 4G”
The congestion control algorithm allows to:
- Measure packet loss over the entire network loop
- Measure the latency (Round Trip Time)
- Adapt the throughput according to these two parameters
The final objective of the algorithm is to maximize the available throughput while maintaining the lowest possible latency. This algorithm is implemented on each of the interfaces available on the drone, each one having its own parameters optimized according to the network. Thanks to the information provided by this algorithm, the link supervisor decides on the routing and the active interface.
“Remote control drone connection in 4G”
ANAFI Ai connects to the 4G remote control in less than 30 seconds when the drone is not in Wi-Fi range, and in less than 15 seconds when the drone is in Wi-Fi range.
- Discovery and initiation of the connection based on the VOIP SIP protocol
- Use of a relay server to establish the connection on secured networks
Video stream performances
- Latency: 300 ms
- Security: Video and controls secured by SRTP/DTLS in accordance to webRTC
- Antennas: 28 LTE bands between 700 Mhz and 2.6 Ghz
“Omni-directional transmission system“
ANAFI Ai has 4 directional antennas with reflector (gain: 2.5 dBi/antenna). The drone determines the best antenna pair depending on its orientation and position in relation to the pilot’s position.
With a recombined gain of 3.5 +/-1.5 dBi in the horizontal plane of the drone, the radio gain of ANAFI Ai is strong homogeneous.
The downward radiation of the antennas has been improved by +4 dB compared to ANAFI.
High Power Radio Front-End Design
The radio front end allows to push the power to the maximum at the foot of the antenna with a very good level of linearity and sensitivity (-94 dBm at 6.5 Mbs), allowing to reach the maximum power of the FCC limit.
Robust Wi-Fi Connection
Parameters 802.11:
A subset of protocol parameters was selected to optimize performance in the drone use cases: relatively low throughput, low latency, variability in reception levels due to drone speed, long range, presence of interferers. These parameters include aggregation, number of retries, MiMo technology (STBC), management frame datarate, and disconnection conditions.
Flow adaptation and monitoring
Parrot ANAFI Ai continuously monitors its connection status at 4 Hz and can detect the presence of interference. This allows to dynamically optimize the throughput and the size of the transmitted packets. It also alerts the pilot if he is in a particularly interference-laden environment, or if he is close to losing the signal.
“Smart interference avoidance system“
ANAFI Ai has a channel avoidance algorithm (dual band 2.4 GHz and 5 GHz) in case of interference detection.
Bandwidth reduction
At the limit of its range and if the conditions allow it, ANAFI Ai can switch to 10 MHz bandwidth to improve its sensitivity by 3 dB and gain 40% in range.
Radio Performances
| Physical layer: | OFDM (Wi-Fi) |
| List of channels: | |
| 2.4 Ghz EU | 2.412 to 2.462 Ghz (5 Mhz steps) |
| 2.4 Ghz US | 2.412 to 2.462 Ghz (5 Mhz steps) |
| 5 Ghz EU | 5.745 to 5.825 Ghz (20 Mhz steps) |
| 5 Ghz US | 5.745 to 5.825 Ghz (20 Mhz steps) |
| Average at 2.4 Ghz | 0 dB (ref) |
| Radiance variability (2.4 Ghz | -1 dB |
| Average at 5 Ghz | 0 dB (ref) |
| Radiance variability (5 Ghz | -1 dB |
| Sensitivity (antenna bottom) | -95 dBm |
| Overlapped | 0 dB (ref) |
| ACR (+25 Mhz) | 0 dB (ref) |
Video streaming
Key features
- H264 encoding with RTSP and RTP transmission protocols
- Internet Stream Sharing with RTMP protocol from the 4G phone on the remote control
- Local Stream Sharing with HDMI video output on the remote control
- Multi-camera: ability to access stereo, vertical and disparity map camera streams, in addition to the front camera
- The video stream is compatible with RTP players, like VLC or mplayer
- 1080p at 30 fps, up to 8 Mbit/s
- Compatible with the H264 and MPEG standards
- Reduced latency (< 300 ms glass-to-glass)
Stream performance
| Resolution | up to 1080p |
| Frame-rate | up to 30 fps |
| Bit rate | up to 8 Mbit/s |
| Video encoding | H.264/AVC |
| Protocol | RTP streaming with RTSP session management |
| Latency | 300 ms |
The implemented video stream optimization algorithms:
Parrot Gen4 Streaming (4th generation)
“Error concealment”
This algorithm reduces the visual impact of losses on the network and it enables the interoperability of all decoders, while ensuring a syntactically complete stream: missing images parts are reconstructed as skipped portions, identical to those of the reference image.
The glitches are therefore contained within zones impacted by losses, and do not spread to the entire image.
The following graphs illustrate the rate of success in decoding macroblocks, for a network loss rate of 5% – with and without ANAFI Ai’s advanced streaming functions. The algorithm ensures a correct decoding for 75% of the macroblocks. Those enable the user to carry on with his mission without screen freeze or streaming loss.
“Congestion control”
The algorithm estimates the Wi-Fi and radio environment to anticipate and avoid packet loss and congestion on the network, thus helping to reduce latency.
The algorithm is based on an estimate of the link capacity calculated from the data rate and the error rate at the physical level; it then acts on the network encoding and encapsulation parameters.
Metadata
Metadata are transmitted with the video stream. They notably contain drone telemetry elements (position, altitude, speed, battery level, etc.) and video metrics (angle of the camera, exposure value, field of view, etc.).
The synchronization of the images and the metadata open functions as precise map positioning, flight instrument tracing within the HUD or augmented reality elements inclusion.
The inclusion of metadata is using standard methods (RTP header extension); the format of the data, defined by Parrot, is public: it is available within ANAFI Ai’s SDK.
48 MP Camera
4K 60 fps: Smooth video
HDR10: Realistic colors
14 EV: Dynamic range
6x zoom: 1 cm details at 75 m (240 ft)
Autonomous Photogrammetry
Shoots 48 MP at 1 fps
Survey grade accuracy: 0.46 cm/px GSD at 30 m (100 ft)
Embedded PIX4D flight planning
4G transfer to PIX4Dcloud
Parrot collects no data without the consent of the users. The user can decide whether he shares data to Parrot infrastructure or not. Data hosted by Parrot enables the user to synchronize flight data and flight plans between different devices, eases support and allows Parrot to enhance products.
ANAFI Ai is compliant with the European Union General Data Protection Regulation (GDPR) and goes beyond, for example with a 1-Click deletion of all data so that users keep control very easily. It’s a matter of 1-Click in the FreeFlight7 mobile App or in the privacy settings of their Parrot. Cloud account. Thus, users may not only stop sharing data at any time, but they can also ask for data deletion very easily.
When the user consents to share data, data processing is fully transparent and described in the Parrot Privacy Policy.
When ANAFI Ai is connected to the Skycontroller 4 through 4G, Parrot infrastructure is used to pair the drone and the remote controller. If the user is not authenticated with a Parrot. Cloud account, he can still use 4G with a unique temporary account. When using Parrot infrastructure for 4G pairing, video is encrypted with a key negotiated between the drone and remote controller, Parrot has no access to unencrypted videos.
Camera
ANAFI Ai’s sensor supports a high megapixel count for finely detailed aerial shots.
It uses a Quad Bayer color filter array, where groups of 4 adjacent pixels come in the same color. Real-time HDR capture can be obtained in both photo and video modes, by adding the signals from the four adjacent pixels.
Its dynamic range is 4 times greater than conventional sensors, featuring a regular Bayer matrix. Even difficult scenes can be captured with minimal highlight blowout or loss of detail in shadows.
The ANAFI Ai lens is specifically designed for Parrot. It integrates 6 aspherical elements and has been optimized for low optical flare.
This lens gives a 68° HFoV in Standard video mode, and a 64.6° HFoV in Standard photo mode.
Description of modes
ANAFI Ai shoots smooth 4K 60 fps video, including in P-Log, as well as HDR10 4K videos up to 30 fps.
The following table summarizes all ANAFI Ai video modes. Default values appear in bold.
| Video mode | Resolution (pixels) |
Framerate (fps) |
Sensor readout | Max analog gain (dB) |
Max ISO | HFoV | 24×36 equ. focal length |
| Standard or P-Log |
4K UHD (3840×2160) |
24, 25, 30 | Full pixel (QBC remoisaic) 10 bits |
24 | 1600 | 68° | 27mm |
| Standard or P-Log |
1080p (1920×1080) |
24, 25, 30 | Full pixel (QBC remoisaic) 10 bits |
24 | 1600 | 68° | 27mm |
| Standard or P-Log |
4K UHD | 48/50/60 | 2×2 adjacent pixel binning |
36 | 6400 | 68° | 27mm |
| Standard or P-Log |
1080p | 48/50/60/ 96/100/120 | 2×2 adjacent pixel binning |
36 | 6400 | 68° | 27mm |
| HDR | 4K UHD (3840×2160) |
24, 25, 30 | QBC HDR 10 bits |
24 | 1600 | 68° | 27mm |
| HDR | 1080p (1920×1080) |
24, 25, 30 | QBC HDR 10 bits |
24 | 1600 | 68° | 27mm |
Our users can choose between H.264 (AVC) and H.265 (HEVC) formats.
For all resolutions, we use the following pixel formats:
- YUV420p (8bits/component, BT.709 colorspace) for Standard and HDR8.
- YUVJ420p (8bits/component, full range – BT.709 colorspace) for P-log style.
- YUV420p10 (10bits/component, BT.2020 colorspace) for HDR10 recording, in H.265 only.
When recording videos in HDR8 and HDR10, ANAFI Ai covers a 14 EV dynamic range.
The HDR10 format allows for a maximum brightness of 1,000 nits and 10 bits color depth. It provides a billion-color palette, against 16 millions for Standard Dynamic Range. Compared to HDR8, HDR10 allows for an image that is over twice as bright, with a matching increase in contrast.
HDR8 can be displayed on any standard screen, while HDR10 is designed for HDR10 TVs and screens.
Description of modes
The drive modes category gathers the settings that are related to the number of images that are taken for each shutter release.
Single capture mode:
Full frame is acquired and immediately processed.
Bracketing mode:
Users can take a burst of 3, 5 or 7 frames with a different exposure for each frame. The available presets are the following:
- [-1 EV, 0, +1 EV] (default setting)
- [-2 EV, -1 EV, 0, +1 EV, +2 EV]
- [-3 EV, -2 EV, -1 EV, 0, +1 EV, +2 EV, +3 EV]
Burst mode:
Users can take a burst of 10 frames in 1 second.
Panorama modes:
- Spherical (360°) – Sphere, Little Planet and Tunnel outputs
- Horizontal (180°)
- Vertical (109°)
- New Superwide mode, stitching 9 images (HFOV 110°, rectilinear)
Refer to this table for details of Panorama output properties:
| Horizontal | Vertical | Sphere | Little planet | Tunnel | Superwide | |
| Ratio | 1:2 | 1:2 | 2:1 | 1:1 | 1:1 | 4:3 |
| Projection | Spherical | Rectilinear | Spherical | Stereographic | Stereographic | Rectilinear |
| HFOV x VFOV | 180° x 90° | 70° x 109° | 360° x 180° | 360° x 180° | 360° x 180° | 110° x 94° |
| Resolutions | 9MP: 4224×2112 18MP: 6144×3072 32MP: 8000×4000 |
9MP: 4224×2112 18MP: 6144×3072 32MP: 8000×4000 |
9MP: 4224×2112 18MP: 6144×3072 32MP: 8000×4000 |
9MP: 3000×3000 18 MP: 4224×4224 32 MP: 5632×5632 |
9MP: 3000×3000 18 MP: 4224×4224 32 MP: 5632×5632 |
9MP: 3456×2592 18MP: 4896×3672 32MP: 6528×4896 |
Timelapse mode:
This mode allows taking pictures at the following fixed time intervals:
- 48 MP: 1, 2, 4, 10, 30 or 60 s
- 12 MP: 0.5, 1, 2, 4, 10, 30 or 60 s
GPS Lapse mode:
This photo mode has been designed for inspection and photogrammetry. It enables taking pictures at the following fixed distance intervals: 5, 10, 20, 50, 100 or 200 meters.
The following table summarizes photo modes and resolutions along with sensor readout mode.
| Photo mode | Photo type |
Resolution & format | HFOV | 24×36 equ. focal length | Sensor readout for recording | Sensor readout for preview | Max analog gain (dB) | ISO range |
| Standard | Wide | 48 MP DNG | 73,2° | 24mm | Full pixel (QBC re-moisaic) 10 bits |
Full pixel (QBC re-moisaic) 10 bits (15 fps) |
24 | 50 – 1600 |
| Standard | Wide | 48 MP JPEG | 64,6° | 28mm | Full pixel (QBC re-moisaic) 10 bits |
Full pixel (QBC re-moisaic) 10 bits (15 fps) |
24 | 50 – 1600 |
| Standard | Rectilinear (with EIS) | 48 MP JPEG | 64,6° | 28mm | Full pixel (QBC re- moisaic) 10 bits |
Full pixel (QBC re-moisaic) 10 bits (15 fps) |
24 | 50 – 1600 |
| Standard or HDR lowlight | Wide | 12 MP DNG | 73,2° | 24mm | 2×2 adjacent pixel binning | 2×2 adjacent pixel binning | 36 | 50 – 6400 |
| Standard or HDR lowlight | Wide | 12 MP JPEG | 64,6° | 28mm | 2×2 adjacent pixel binning | 2×2 adjacent pixel binning | 36 | 50 – 6400 |
| Standard or HDR lowlight | Rectilinear (with EIS) | 12 MP JPEG | 64,6° | 28mm | 2×2 adjacent pixel binning | 2×2 adjacent pixel binning | 36 | 50 – 6400 |
| HDR | Wide | 12 MP DNG | 73,2° | 24mm | QBC HDR 10 bits |
QBC HDR 10 bits |
36 | 50 – 1600 |
| HDR | Wide | 12 MP JPEG | 64,6° | 28mm | QBC HDR 10 bits |
QBC HDR 10 bits |
36 | 50 – 1600 |
| HDR | Rectilinear (with EIS) | 12 MP JPEG | 64,6° | 28mm | QBC HDR 10 bits |
QBC HDR 10 bits |
36 | 50 – 1600 |
The following table summarizes the available settings for each mode.
| Attribute | Value | Description |
| Auto White Balance | ON / OFF | Enables or disables the auto white balance. |
| Manual WB | Presets / Manual | Manual selection of a WB preset instead of using auto white balance: Auto, Incandescent, Fluo, Sunny, Cloudy, Shade, Lock (if AWB is turned off, last AWB scales will be used), and Manual (user sets the Correlated Color Temperature in the range [2000,10000]). |
| Exposure mode | Auto / Manual / Shutter priority / ISO priority | Switches between available AE modes. |
| Manual shutter speed values | From 1 to 1/10000 s, by 1/3EV steps | Only available in manual or Shutter priority modes. Values: 1/15, 1/20, 1/25, 1/30, 1/40, 1/50, 1/60, 1/80, 1/100, 1/120, 1/160, 1/200, 1/240, 1/320, 1/400, 1/500, 1/640, 1/800, 1/1000, 1/1250, 1/1600, 1/2000, 1/2500, 1/3200, 1/4000, 1/5000, 1/6400, 1/8000, 1/10000. |
| Manual ISO values | From 25 to 51200 ISO, by 1/3EV steps | Values: 50, 64, 80, 100, 125, 160, 200, 250, 320, 400, 500, 640, 800, 1000, 1200, 1600, 2000, 2500, 3200, 4000, 5000, 6400. |
| EV compensation | From -3 EV t |
