pymisb 2.0.1

MISB ST0601 / STANAG 4609 mux, demux & live streaming library for Python

pymisb

MISB ST0601 / STANAG 4609 mux, demux & live streaming library for Python.

Module	What it does
mux	Turn DJI drone footage + telemetry into STANAG 4609 videos with embedded KLV
demux	Extract and decode KLV telemetry from any STANAG-compliant video file
stream	Read KLV in real-time from live UDP/RTP/RTSP streams
vmti	Parse MISB ST 0903 VMTI target tracking metadata

pip install pymisb

Donations — If this project is useful for you, consider buying me a beer!

Quick start

Mux — create a MISB video

from pymisb.common import build_klv_packets
from pymisb.mux import mux_with_ffmpeg

packets = build_klv_packets("telemetry.csv")
mux_with_ffmpeg("drone.mp4", packets, "output.ts")

Demux — read KLV from a video

from pymisb.demux import extract_klv, decode_packets

klv_data = extract_klv("output.ts")
packets = decode_packets(klv_data)
for pkt in packets:
    meta = pkt.MetadataList()
    print(meta[13])  # Sensor Latitude

Stream — real-time KLV from live feeds

from pymisb.stream import open_stream

with open_stream("udp://@:5000") as reader:
    for pkt in reader:
        meta = pkt.MetadataList()
        print(meta[13])  # Sensor Latitude in real-time

VMTI — target tracking metadata

from pymisb.vmti import parse_vmti, extract_vmti

targets = parse_vmti(extract_vmti("video.ts"))
for t in targets:
    print(t["target_centroid_lat"], t["target_classification"])

Package structure

pymisb/
├── constants.py          Shared constants (keys, versions, FOV, etc.)
├── common/
│   ├── encoder.py        MISB ST0601 KLV packet builder
│   ├── dji.py            DJI CSV + binary .txt flight record parsers
│   └── ts.py             Path defaults and KLV stream writer
├── mux/
│   └── engine.py         MPEG-TS muxing (PES/PCR/KLV injection + FFmpeg)
├── demux/
│   └── engine.py         KLV extraction and decoding from files
├── stream/
│   └── engine.py         Real-time KLV from UDP/RTP/RTSP streams
├── vmti/
│   └── engine.py         MISB ST 0903 VMTI target metadata
└── klvdata/              Vendored MISB ST0601/0903 KLV decoder

Requirements

• Python 3.12+ (3.12, 3.13)
• FFmpeg on the PATH (for muxing, demuxing, and streaming)

Installation

From PyPI

pip install pymisb

From source

git clone https://github.com/All4Gis/pymisb.git
cd pymisb
pip install .

Development (editable)

git clone https://github.com/All4Gis/pymisb.git
cd pymisb
pip install -e ".[test]"

Verify

python -c "from pymisb.constants import UAS_LS_KEY; print('OK')"
pymisb-mux --help
pymisb-demux --help

CLI usage

Muxing

# From DJI CSV telemetry
pymisb-mux --video drone.mp4 --csv telemetry.csv
pymisb-mux --video drone.mp4 --csv telemetry.csv --out output.ts

# From DJI binary .txt flight record
pymisb-mux --video drone.mp4 --dji-txt DJIFlightRecord.txt

# KLV only (no video muxing)
pymisb-mux --csv telemetry.csv --out output.ts --klv-only

# Or via module
python -m pymisb.mux --video drone.mp4 --csv telemetry.csv

Demuxing

# Dump all KLV packets
pymisb-demux output.ts

# Playback at the video's real rate
pymisb-demux output.ts --play

# Accelerated playback x4
pymisb-demux output.ts --play --speed 4

# Show every ST0601 tag
pymisb-demux output.ts --all

# Tag tree of the first packet
pymisb-demux output.ts --structure

Streaming (live)

# Read KLV from a live UDP stream
pymisb-stream udp://@:5000

# RTSP camera
pymisb-stream rtsp://camera.local/stream --all

# Or via module
python -m pymisb.stream udp://@:5000

VMTI (target tracking)

# Decode VMTI targets from a video
pymisb-vmti video.ts

# Show all target fields
pymisb-vmti video.ts --all

Library API

pymisb.common — encoder and parsers

from pymisb.common import (
    build_st0601_packet,       # Build a single ST0601 KLV packet
    build_klv_packets,         # Parse DJI CSV -> list of KLV packets
    build_klv_packets_from_txt, # Parse DJI .txt -> list of KLV packets
    default_output,            # Generate default output path
    write_klv_stream,          # Write packets as raw KLV file
)

pymisb.mux — MPEG-TS muxing

from pymisb.mux import (
    mux_with_ffmpeg,       # Full mux pipeline (FFmpeg + KLV injection)
    inject_klv_into_ts,    # Low-level: inject KLV into existing TS
)

pymisb.demux — KLV extraction and decoding from files

from pymisb.demux import (
    extract_klv,           # Extract raw KLV bytes from TS via FFmpeg
    decode_packets,        # Decode raw KLV into parsed ST0601 packets
)

pymisb.stream — real-time KLV from live streams

from pymisb.stream import open_stream

# Iterator mode — yields packets as they arrive
with open_stream("udp://@:5000") as reader:
    for pkt in reader:
        meta = pkt.MetadataList()
        print(meta[13])

# Callback mode
def on_packet(pkt):
    print(pkt.MetadataList()[13])

reader = open_stream("rtsp://camera.local/stream")
reader.start(callback=on_packet)
reader.stop()

pymisb.vmti — MISB ST 0903 VMTI target tracking

from pymisb.vmti import parse_vmti, extract_vmti, decode_vmti_stream

# From a TS file
targets = parse_vmti(extract_vmti("video.ts"))
for t in targets:
    print(t["target_centroid_lat"], t["target_classification"])

# From raw bytes
targets = decode_vmti_stream(vmti_bytes)

pymisb.constants — shared configuration

from pymisb.constants import (
    UAS_LS_KEY,            # 16-byte UAS Datalink Local Set universal key
    KLV_HEADER_KEY,        # Shifted key for DJI non-standard headers
    ST0601_VERSION,        # MISB ST0601 version (Tag 65)
    HFOV_DEG, VFOV_DEG,   # Camera field of view (degrees)
    EARTH_MEAN_RADIUS,     # WGS-84 radius in meters
)

Configuration

Edit pymisb/constants.py to adjust:

• HFOV_DEG / VFOV_DEG — camera field of view (affects sensor footprint)
• ST0601_VERSION — advertised Local Set version (Tag 65)

Supported standards

Standard	Name	Status
MISB ST 0601	UAS Datalink Local Set	Full (encode + decode)
MISB ST 0903	VMTI (Video Moving Target Indicator)	Decode
MISB ST 0102	Security Metadata	Decode (via klvdata)
MISB EG 0104	UAV Basic Universal Metadata	Decode (via klvdata)
STANAG 4609	NATO video standard	Full (mux + demux)

Testing

# Install with test dependencies
pip install -e ".[test]"

# Run all tests
pytest tests/ -v

# Run specific test file
pytest tests/test_misb_common.py -v

# Run specific test
pytest tests/test_misb_common.py::TestBuildSt0601Packet -v

# With coverage
pip install pytest-cov
pytest tests/ --cov=pymisb --cov-report=term-missing

Test file	Coverage
tests/test_misb_common.py	ST0601 encoder, DJI parsers, BER/BCC, geometry
tests/test_misb_mux.py	MPEG-TS primitives (PES, PTS, PCR, packetization)
tests/test_klvdata.py	Vendored klvdata decoder (ST0601 tags, BER-TLV, integration)

CI runs on every push across Python 3.12-3.13 on Linux, macOS, and Windows.

Publishing

# Build
pip install build
python -m build

# Publish to PyPI
pip install twine
twine upload dist/*

# Or TestPyPI first
twine upload --repository testpypi dist/*
pip install --index-url https://test.pypi.org/simple/ pymisb

License

This project is licensed under the MIT License.

The vendored klvdata decoder in pymisb/klvdata/ is derived from paretech/klvdata (MIT). See THIRD_PARTY_LICENSES.md for full attribution.

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"From raw drone footage to geospatial intelligence — one KLV packet at a time."

Made with passion by Fran Raga [e-mail] - June 2026.

If this saved you a few hours, give the repo a star and fly safe. Happy coding!