CN107204849B - A kind of instruction executing method and device with interrogation function based on unmanned boat - Google Patents
A kind of instruction executing method and device with interrogation function based on unmanned boat Download PDFInfo
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- CN107204849B CN107204849B CN201710375363.7A CN201710375363A CN107204849B CN 107204849 B CN107204849 B CN 107204849B CN 201710375363 A CN201710375363 A CN 201710375363A CN 107204849 B CN107204849 B CN 107204849B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3271—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using challenge-response
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/083—Network architectures or network communication protocols for network security for authentication of entities using passwords
- H04L63/0838—Network architectures or network communication protocols for network security for authentication of entities using passwords using one-time-passwords
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/10—Network architectures or network communication protocols for network security for controlling access to devices or network resources
- H04L63/105—Multiple levels of security
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3226—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using a predetermined code, e.g. password, passphrase or PIN
- H04L9/3228—One-time or temporary data, i.e. information which is sent for every authentication or authorization, e.g. one-time-password, one-time-token or one-time-key
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
- H04L9/0861—Generation of secret information including derivation or calculation of cryptographic keys or passwords
- H04L9/0863—Generation of secret information including derivation or calculation of cryptographic keys or passwords involving passwords or one-time passwords
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- Computer Security & Cryptography (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to unmanned boat technical fields, provide a kind of instruction executing method and device with interrogation function based on unmanned boat.Wherein method includes: receiving control message, and parsing obtains the control instruction carried in the control message；The instruction important level that itself storage is matched according to the control instruction judges that important level corresponding to current control instruction beyond default inquiry grade, then inquires message according to preset strategy generating；The inquiry message is sent to the opposite end for sending the control message, and when determining that the response message received is correct, executes the control instruction；If it is determined that the response message received is incorrect or preset time in when not receiving response message, execute preset emergency operation.Based on enforceable important level partition strategy, and inquiry message generation strategy is provided on the basis of the embodiment of the present invention, the execution efficiency and reliability of safety check are further improved.
Description
[technical field]
The present invention relates to unmanned boat technical fields, hold more particularly to a kind of instruction with interrogation function based on unmanned boat
Row method and apparatus.
[background technique]
With the research and development of smart machine, more and more unmanned planes, unmanned boat are put in practical application.
However, unmanned plane or unmanned ship equipment of any foundation on the basis of wireless telecommunications, are likely to pass through electromagnetism by third party
It interferes the communication connection of unmanned boat or unmanned plane and bank base is truncated, or by more high-power on the basis of electromagnetic interference
Output generate false communication signal；And forced by sending pseudo-command captured unmanned plane or unmanned boat feed back to
The information stolen, why with the mode of the pseudo-command, the reason is that avoid when using hardball, unmanned boat or nobody
The included destroying system of machine can be triggered.
However, the case where lacking a kind of mean of defense in the prior art, capable of effectively coping with above-mentioned pseudo-command.
[summary of the invention]
Technical problems to be solved of the embodiment of the present invention are to lack a kind of mean of defense in the prior art, can effectively be answered
The case where pseudo-command is coped with to above-mentioned unmanned boat.
The present invention adopts the following technical scheme:
First aspect present invention provides a kind of instruction executing method with interrogation function based on unmanned boat, the side
Method includes:
Unmanned boat receiving control message, parsing obtain the control instruction carried in the control message；
The instruction important level that itself storage is matched according to the control instruction, judges weight corresponding to current control instruction
Want whether grade exceeds default inquiry grade；
If the important level of current control instruction disappears beyond default inquiry grade according to the inquiry of preset strategy generating
Breath；
The inquiry message is sent to the opposite end for sending the control message, and is determining that the response message received is correct
When, execute the control instruction；If it is determined that the response message received is incorrect or preset time in do not receive response and disappear
When breath, preset emergency operation is executed.
Preferably, the setting of the instruction important level of itself storage, specifically includes:
According to the important level for the important level setting command adapted thereto for executing the control instruction object of being accessed；Wherein, institute
State access object includes sonar collection result, radar collection result, one in video acquisition content according to grade from low to high
Or it is multinomial；And/or
The important level of command adapted thereto is set according to the size of the adjusting parameter carried in control instruction；Wherein, adjustment ginseng
Number includes adjusting parameter, middle amplitude adjusting parameter and significantly adjusting parameter by a small margin according to grade from low to high；And/or
According to the important level of the important level setting command adapted thereto for the content of being executed in control instruction；Wherein, it executes
Content includes opening/closing camera shooting, opening/closing sonar set, starting/stopping navigation and emission gun according to grade from low to high
One or more in bullet.
Preferably, the default inquiry grade possesses identical unit with important level corresponding to control instruction, described
Judge whether important level corresponding to current control instruction exceeds default inquiry grade, specifically include:
Judge to access corresponding to current control instruction in the important level, the size of adjusting parameter and/or execution of object
Parameter summation, mean value or the weighted sum result of one or more important level corresponding to the important level of appearance, if
Parameter value beyond default inquiry grade.
Preferably, described that message is inquired according to preset strategy generating, it specifically includes:
Unmanned boat and bank base respectively maintain a set of identical random code generting machanism, wherein the generation of the first random code
One of factor is the first parameter value, then the first random code and the first parameter value of generation are carried in the inquiry message；
The response message that then determination receives is correct, specifically includes:
Unmanned boat receives response message, carries third random code in the response message；
The second random code that the second parameter value calculation stored according to itself obtains；Verifying extracts from the third of response message
Whether random code is identical as second random code；Wherein, second parameter value and first parameter value are with matching form
It is respectively stored on unmanned boat and bank base；
Determine that the response message received is correct if verification result is identical.
Preferably, described that message is inquired according to preset strategy generating, it specifically includes:
Unmanned boat and bank base respectively maintain a set of identical random code generting machanism, wherein the generation of the first random code
One of factor is the first parameter value, then carries the first random code of generation, the first parameter value in the inquiry message and generate the
The time tag of one random code；
The response message that then determination receives is correct, specifically includes:
Unmanned boat receives response message, carries third random code in the response message；
The second random code that the second parameter value calculation stored according to itself obtains；Verifying extracts from the third of response message
Whether random code is identical as second random code；Wherein, second parameter value is joined according to the time tag and first
Numerical value is addressed jointly and is obtained；
Determine that the response message received is correct if verification result is identical.
Preferably, described that message is inquired according to preset strategy generating, it specifically includes:
Unmanned boat and bank base both sides maintain a set of key, wherein unmanned boat encrypts a content object using key, and will
Encrypted content object carries in inquiry message；
The response message that then determination receives is correct, specifically includes:
Whether the content object that verifying extracts from response message is identical with content object before encrypting in unmanned boat, if verifying
As a result identical, determine that the response message received is correct.
Preferably, described to execute preset emergency operation, it specifically includes:
It destroys the data acquired in unmanned boat, release pulsed urgent positioning signal, start in unmanned boat self-destruction program
It is one or more kinds of.
Second aspect, the device for the instruction execution with interrogation function based on unmanned boat that the present invention also provides a kind of, institute
Stating device includes control message receiving module, control message parsing module, inquiry grade judgment module, inquiry message generation mould
Block, inquiry message transmission module and control instruction execution module, wherein control message receiving module, control message parsing module,
Inquiry grade judgment module, inquiry message generating module and inquiry message transmission module are sequentially connected, the control message parsing
Module is also connected with the control instruction execution module, specific:
Control message receiving module is used for receiving control message；
Control message parsing module, for parsing the control instruction for obtaining carrying in the control message；
Grade judgment module is inquired, for matching the instruction important level of itself storage, judgement according to the control instruction
Whether important level corresponding to current control instruction exceeds default inquiry grade；
Message generating module is inquired, for when current control instruction is beyond default inquiry grade, according to preset plan
Slightly generate inquiry message；
Message transmission module is inquired, for sending the inquiry message to the opposite end for sending the control message；
Control instruction execution module, for executing the control instruction when determining that the response message received is correct；?
Determine that the response message that receives is incorrect or preset time in when not receiving response message, execute preset emergency and grasp
Make.
Preferably, described device further includes memory module,
The memory module is for control store instruction and important level corresponding relationship, wherein control instruction and important etc.
Grade corresponding relationship specifically includes:
The important level of the control instruction corresponds to the important level of the control instruction object of being accessed；Wherein,
The access object includes sonar collection result, radar collection result, the one or more in video acquisition content, the visit
Ask that the important level of object is stored in the memory module；And/or
The important level of the control instruction corresponds to the important level that adjusting parameter size is carried in the control instruction；
Wherein, adjusting parameter size includes that adjusting parameter, middle amplitude adjusting parameter and significantly adjusting parameter, the adjustment by a small margin are joined
The important level of number size is stored in the memory module；And/or
The important level of the control instruction corresponds to the important level of the execution content of the control instruction；Wherein, it executes
Content includes opening camera shooting, opening sonar set, stop navigation, navigating by water one to designated position and in firing shells or more
, the important level for executing content is stored in the memory module.Preferably, the control instruction execution module is also wrapped
Emergency operation execution unit is included,
The emergency operation execution unit, for destroying the data acquired in unmanned boat, release pulsed urgent positioning letter
Number, starting one or more of unmanned boat self-destruction program.
The third aspect, the device for the instruction execution with interrogation function based on unmanned boat that the present invention also provides a kind of, packet
Include memory and processor, wherein processor is connected specifically with memory by main line:
The processor, for realizing each instruction；
The memory, for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by processor:
Receiving control message, parsing obtain the control instruction carried in the control message；According to the control instruction
Instruction important level with itself storage, judges whether important level corresponding to current control instruction exceeds default inquiry etc.
Grade；If the important level of current control instruction inquires message according to preset strategy generating beyond default inquiry grade；To
The opposite end for sending the control message sends the inquiry message, and when determining that the response message received is correct, executes institute
State control instruction；If it is determined that the response message received is incorrect or preset time in when not receiving response message, execute
Preset emergency operation.
Fourth aspect, the present invention also provides a kind of storage equipment, store in equipment and are stored with a plurality of instruction, described instruction
Suitable for being loaded by processor and being executed:
Receiving control message, parsing obtain the control instruction carried in the control message；According to the control instruction
Instruction important level with itself storage, judges whether important level corresponding to current control instruction exceeds default inquiry etc.
Grade；If the important level of current control instruction inquires message according to preset strategy generating beyond default inquiry grade；To
The opposite end for sending the control message sends the inquiry message, and when determining that the response message received is correct, executes institute
State control instruction；If it is determined that the response message received is incorrect or preset time in when not receiving response message, execute
Preset emergency operation.
The invention proposes after a kind of important level for judging control instruction based on unmanned boat, inquiry message realization pair is utilized
The safety check of important control instruction, prevents unmanned boat after being attacked by electromagnetic interference, executes false control instruction bring
Unpredictable consequence.Also, based on provided on the basis of the embodiment of the present invention can be true important level partition strategy, and
It inquires message generation strategy, further improves the execution efficiency and reliability of safety check.
[Detailed description of the invention]
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is that a kind of instruction executing method process with interrogation function based on unmanned boat provided in an embodiment of the present invention is shown
It is intended to；
Fig. 2 is a kind of structural schematic diagram of unmanned boat provided in an embodiment of the present invention；
Fig. 3 is a kind of apparatus structure of instruction execution with interrogation function based on unmanned boat provided in an embodiment of the present invention
Schematic diagram；
Fig. 4 is the device knot of another instruction execution with interrogation function based on unmanned boat provided in an embodiment of the present invention
Structure schematic diagram；
Fig. 5 is the device knot of another instruction execution with interrogation function based on unmanned boat provided in an embodiment of the present invention
Structure schematic diagram；
Fig. 6 is the device knot of another instruction execution with interrogation function based on unmanned boat provided in an embodiment of the present invention
Structure schematic diagram.
[specific embodiment]
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" etc. refer to
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention rather than
It is required that the present invention must be constructed and operated in a specific orientation, therefore it is not construed as limitation of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
Embodiment 1:
The embodiment of the present invention 1 provides a kind of instruction executing method with interrogation function based on unmanned boat, such as Fig. 1 institute
Show, which comprises
In step 201, unmanned boat receiving control message, parsing obtain the control instruction carried in the control message.
Wherein, the control message can be the regular approach from similar bank base, be also possible to broken from
The third party (such as: adverse party) for translating current unmanned boat communication protocol.
The control instruction is divided according to classification, including access subject instructions type, wherein accessed object includes: each biography
The object of sensor acquisition acquires the included control system recorded data object of object acquired in equipment, unmanned boat；Adjust nothing
The instruction type of the parameter of each equipment of people's ship itself, comprising: adjust the motion track of unmanned boat, adjust the mobile speed of unmanned boat
Each equipment parameters etc. are carried in degree, adjustment unmanned boat；Starting and the instruction type for terminating particular device, comprising: open
Sonar set and stopping navigation etc. are opened in camera shooting.The description of above-mentioned classification is used for the purpose of conveniently enumerating institute of the embodiment of the present invention
The typical control instruction of protection, and can be according to the typical control instruction in the case where being not necessarily to creative work, by this
Field technical staff combs out other control instructions, and similar control instruction belongs in protection scope of the embodiment of the present invention.
In step 202, the instruction important level that itself storage is matched according to the control instruction judges that current control refers to
Enable whether corresponding important level exceeds default inquiry grade.
Wherein, corresponding above-mentioned each control instruction classification is stored with corresponding instruction weight in the control system of unmanned boat
Want grade.Next respectively for the ginseng of the access subject instructions type, adjustment each equipment of unmanned boat itself that distinguish above
Several instruction types, and starting and terminate particular device instruction type illustrate how to realize described instruction important level
Configuration.Where it is assumed that important level includes 1-10, wherein numerical value is higher indicates that important level is higher.
One, it accesses in subject instructions type, for accessing the movement for the object that each sensor obtains, can correspond to sense
Device setting instruction important level, such as: information detected by depth transducer is more important, corresponding instruction important level
It can be set to 6, and for velocity sensor, accessed confidentiality is without so high, therefore, corresponding instruction weight
Grade is wanted to can be set to 4, and it is related to the working condition of engine for temperature sensor, still, for confidentiality
Specific rate sensor is also lower, and therefore, corresponding instruction important level can be set to 3 etc.；Acquisition equipment is obtained
For the object taken, acquisition equipment may include sonar set, camera apparatus and radar equipment etc., for respective acquisition data
The instruction important level that corresponding sonar set, camera apparatus and radar equipment is arranged in accessed confidentiality is respectively 6,8 and
7；The access important level for carrying control system recorded data object for unmanned boat can be set to 7.
Two, the instruction type for adjusting the parameter of each equipment of unmanned boat itself, for adjusting motion track, the adjustment of unmanned boat
Each equipment parameters are carried in the movement speed of unmanned boat, adjustment unmanned boat, wherein various adjustment can be corresponded to initial
The judgement of setting state is adjusting parameter, middle amplitude adjusting parameter or significantly adjusting parameter by a small margin, the finger of three's adjustment
Enable important level from low to high.And the different objects for specifically adjusting (such as above-mentioned track, speed and Portable device), it corresponds to
The execution important level adjusted with the parameter of level-one amplitude also has corresponding difference, such as: correspond to the small of above-mentioned motion track
The instruction important level of amplitude adjusting parameter is 7, and can be for the instruction important level of the adjusting parameter by a small margin of speed
6；The instruction important level of amplitude adjusting parameter in respectively corresponding, on the accordingly instruction important level basis of adjusting parameter by a small margin
It floats a designated value (or designated ratio), can be by the instruction important level of the middle amplitude adjusting parameter of motion track
7.5, and can be 6.5 by the instruction important level of the middle amplitude adjusting parameter of speed.
Three, start and terminate particular device instruction type, for open/close camera shooting, open/close sonar set and
Starting/stopping navigation etc., can set gradually corresponding instruction important level is 6,5 and 7.
Other than the above-mentioned setting instruction important level for each control instruction, in order to complete sentencing in subsequent step 203
Disconnected process corresponds to different control instruction classifications in embodiments of the present invention and stores a set of or more sets in the control system of unmanned boat
Default inquiry grade.Wherein, the default inquiry grade can be simply be arranged to it is a set of, such as: once judgement control refer to
The instruction important level of order reaches 7, it is judged that current control instruction inquires grade beyond default, then according to preset plan
Slightly generate inquiry message；In addition to this, presetting inquiry grade can also be arranged to cover more, specially correspond to above-mentioned different control
A set of inquiry grade is respectively arranged in classes of instructions, and the advantage handled in this way is inherently to deposit between different control instruction classifications
In the difference of important level, each control instruction classification is corresponded to using more set inquiry grades, can effectively improve the spirit of setting
Activity, and after thering is newly-increased control instruction classification to participate in, it can be arranged on the basis of not changing original judgement framework
A set of matched completion work of new inquiry grade, ensure that the ductility of scheme.
In step 203, if the important level of current control instruction is beyond default inquiry grade, according to preset plan
Slightly generate inquiry message.
Several feasible implementations proposed in corresponding above-mentioned steps 202, it is corresponding to realize according to preset strategy generating
Inquiry message equally exists several optional implementations.
Mode one:
It is either corresponding that a set of inquiry grade, or corresponding different control instruction classes are set with above-mentioned each control instruction classification
A set of or inquiry grade is respectively set.Judging result corresponding to current control instruction beyond default inquiry grade, generates and askes
Ask that the mode of message is identical.
Mode two:
A set of or inquiry level condition is respectively set in corresponding different control instruction classes, exceeds corresponding to current control instruction
The judging result of default inquiry grade, is distinguishing according to the corresponding inquiry message that preset strategy accordingly generates.Such as:
Control instruction in above-mentioned access subject instructions type is met beyond default inquiry grade, then is returned from formerly
Back to an element is extracted in the same type data content of control instruction transmitting terminal as encryption factor, the inquiry of encrypted content will be carried
Ask that message is sent to control instruction transmitting terminal, wherein element includes the content of acquisition, the time of acquisition, the place of acquisition etc.；
The encryption factor is used to constitute key, or directly uses using the encryption factor as key.Only in historical reception mistake
The bank base (i.e. control instruction transmitting terminal) for the same type data content that unmanned boat returns could be according to the elements recognition rule appointed
Then, corresponding encryption factor is searched out, the decryption of encrypted content entrained in inquiry message is completed.
It should be pointed out that can be ask in the waters of a safety by the way that setting is default when just having started navigation for unmanned boat
Ask that grade is highest (i.e. any control instruction is all not necessarily to the inquiry message link via step 203-204), to realize one group
The acquisition of historical data content, the process can be completed during unmanned boat tries ship.
For the instruction type of the parameter of above-mentioned each equipment of adjustment unmanned boat itself, then each device numbering conduct can be used
Encryption factor prevents enemy when carrying out unmanned boat electromagnetic interference to guarantee the safety of encryption, false by release
Control instruction reaches the purpose of nobody loses way or drive towards false destination etc., to reach the capture to unmanned boat.
For starting and terminating the instruction type of particular device, then it can be started by history or dwell time is used as and adds
The close factor prevents enemy when carrying out unmanned boat electromagnetic interference to guarantee the safety of encryption, passes through the false control of release
System instruction reaches unmanned boat and stops navigation, release offensive missile, starting self-destruction program etc..
It is emphasized that for same type of instruction, when generating inquiry message used encryption factor be can
With general from each other, such as: for starting self-destruction program, encryption factor can be used unmanned boat starting navigation when
Between be used as encryption factor.
In step 204, the inquiry message is sent to the opposite end for sending the control message, and received in determination
When response message is correct, the control instruction is executed；If it is determined that the response message received is incorrect or preset time in not
When receiving response message, preset emergency operation is executed.
Wherein, described to execute preset emergency operation, it specifically includes: destroying the data acquired in unmanned boat, release pulse
One or more of formula urgent positioning signal, starting unmanned boat self-destruction program.
After the embodiment of the present invention proposes a kind of important level for judging control instruction based on unmanned boat, inquiry message is utilized
It realizes to the safety check of important control instruction, prevents unmanned boat after being attacked by electromagnetic interference, execute false control instruction
The unpredictable consequence of bring.Also, based on provided on the basis of the embodiment of the present invention can be true important level divide plan
Slightly, it and inquires message generation strategy, further improves the execution efficiency and reliability of safety check.
In embodiments of the present invention, the default inquiry grade possesses identical with important level corresponding to control instruction
Unit, it is described to judge whether important level corresponding to current control instruction exceeds default inquiry grade, it specifically includes:
Judge to access corresponding to current control instruction in the important level, the size of adjusting parameter and/or execution of object
Parameter summation, mean value or the weighted sum result of one or more important level corresponding to the important level of appearance, if
Parameter value beyond default inquiry grade.
Content described in 1 step 202 of the embodiment of the present invention that compares, above content further refine to control instruction and relate to
And the one or more in above-mentioned access object type, adjusting parameter type or starting/termination type, at this point, based on
It just to need to carry out parameter summation when calculating the important level of corresponding control instruction.Even, in order to improve inquiry grade the property continued to use
And its complexity is reduced, take the mode of mean value to carry out final judgement after summation can be used.
In order to be suitable for a kind of instruction execution side with interrogation function based on unmanned boat described in embodiment 1
Method, the present invention provides a kind of 1 structure of unmanned boat as shown in Fig. 2, include control system 11, communications module 12, power mould group 13,
Sensor module 14, emergency operation mould group 15.Wherein, control system 11 and communication module group 12 can be used for completing each in embodiment 1
Method and step；And the power mould group 13 then can provide unmanned boat power demand, including the adjustment on movement speed, moving direction
And change；And the sensor module 14 then includes temperature sensor, velocity sensor, pressure sensor etc.；And it described answers
Anxious operation mould group 15 includes igniter, destructive mechansim etc..The specific structure part that each mould group possesses according to it in above-mentioned unmanned boat,
It can adapt to correlation method step in the embodiment of the present invention 1 and realize that correlation method content, specific method content use for reference above-mentioned side
Method description content, details are not described herein.
Embodiment 2:
The embodiment of the present invention is to be directed to involved in embodiment 1 to inquire message according to preset strategy generating, is provided
Several optional policy contents include at least following three kinds:
Mode one:
Unmanned boat and bank base respectively maintain a set of identical random code generting machanism, wherein the generation of the first random code
One of factor is the first parameter value, then the first random code and the first parameter value of generation are carried in the inquiry message；
The response message that then determination receives is correct, specifically includes:
Unmanned boat receives response message, carries third random code in the response message；
The second random code that the second parameter value calculation stored according to itself obtains；Verifying extracts from the third of response message
Whether random code is identical as second random code；Wherein, second parameter value and first parameter value are with matching form
It is respectively stored on unmanned boat and bank base；
Determine that the response message received is correct if verification result is identical.
Mode two:
Unmanned boat and bank base respectively maintain a set of identical random code generting machanism, wherein the generation of the first random code
One of factor is the first parameter value, then carries the first random code of generation, the first parameter value in the inquiry message and generate the
The time tag of one random code；
The response message that then determination receives is correct, specifically includes:
Unmanned boat receives response message, carries third random code in the response message；
The second random code that the second parameter value calculation stored according to itself obtains；Verifying extracts from the third of response message
Whether random code is identical as second random code；Wherein, second parameter value is joined according to the time tag and first
Numerical value is addressed jointly and is obtained；
Determine that the response message received is correct if verification result is identical.
Mode three:
Unmanned boat and bank base both sides maintain a set of key, wherein unmanned boat encrypts a content object using key, and will
Encrypted content object carries in inquiry message；
The response message that then determination receives is correct, specifically includes:
Whether the content object that verifying extracts from response message is identical with content object before encrypting in unmanned boat, if verifying
As a result identical, determine that the response message received is correct.
In embodiment 1, the key is expressed as historical content, each device numbering and the history starting of same type data
Or dwell time.It is equally applicable to the mode three in the embodiment of the present invention 2, and details are not described herein.
Embodiment 3:
The device 2 for the instruction execution with interrogation function based on unmanned boat that the embodiment of the invention also provides a kind of, such as Fig. 3
Shown, described device includes control message receiving module 21, control message parsing module 22, inquiry grade judgment module 23, askes
Ask message generating module 24, inquiry message transmission module 25 and control instruction execution module 26, wherein control message receiving module
21, control message parsing module 22, inquiry grade judgment module 23, inquiry message generating module 24 and inquiry message transmission module
25 are sequentially connected, and the control message parsing module 22 is also connected with the control instruction execution module 26, specific:
Control message receiving module 21 is used for receiving control message；
Control message parsing module 22, for parsing the control instruction for obtaining carrying in the control message；
It inquires grade judgment module 23, for matching the instruction important level of itself storage according to the control instruction, sentences
Whether important level corresponding to current control instruction of breaking exceeds default inquiry grade；
Message generating module 24 is inquired, for when current control instruction is beyond default inquiry grade, according to preset
Strategy generating inquires message；
Message transmission module 25 is inquired, for sending the inquiry message to the opposite end for sending the control message；
Control instruction execution module 26, for executing the control instruction when determining that the response message received is correct；
Determine that the response message that receives is incorrect or preset time in do not receive response message when, execute preset emergency and grasp
Make.
The embodiment of the present invention proposes a kind of device of instruction execution with interrogation function based on unmanned boat, can pass through
After unmanned boat judges the important level of control instruction, is realized using inquiry message to the safety check of important control instruction, prevented
Unmanned boat executes the unpredictable consequence of false control instruction bring after being attacked by electromagnetic interference.Also, it is based on this hair
Important level partition strategy that can be true, and inquiry message generation strategy are provided on the basis of bright embodiment, are further increased
The execution efficiency and reliability of safety check.
In conjunction with the embodiment of the present invention, there are a kind of preferred implementations, as shown in figure 4, described device 2 further includes storage
Module 27,
The memory module 27 is for control store instruction and important level corresponding relationship, wherein control instruction with it is important
Grade corresponding relationship specifically includes:
The important level of the control instruction corresponds to the important level of the control instruction object of being accessed；Wherein,
The access object includes sonar collection result, radar collection result, the one or more in video acquisition content, the visit
Ask that the important level of object is stored in the memory module 27；And/or
The important level of the control instruction corresponds to the important level that adjusting parameter size is carried in the control instruction；
Wherein, adjusting parameter size includes that adjusting parameter, middle amplitude adjusting parameter and significantly adjusting parameter, the adjustment by a small margin are joined
The important level of number size is stored in the memory module 27；And/or
The important level of the control instruction corresponds to the important level of the execution content of the control instruction；Wherein, it executes
Content includes opening camera shooting, opening sonar set, stop navigation, navigating by water one to designated position and in firing shells or more
, the important level for executing content is stored in the memory module 27.
In conjunction with the embodiment of the present invention, there are a kind of preferred implementations, as shown in figure 5, the control instruction executes mould
Block further includes emergency operation execution unit 28,
The emergency operation execution unit 28, for destroying the data acquired in unmanned boat, release pulsed urgent positioning
One or more of signal, starting unmanned boat self-destruction program.
Embodiment 4:
The device 3 for the instruction execution with interrogation function based on unmanned boat that the embodiment of the invention also provides a kind of, such as Fig. 6
It is shown, including processor 31 and memory 32, wherein processor 31 is connected specifically with memory 32 by main line:
The processor 31, for realizing each instruction；
The memory 32, for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by processor 31:
Receiving control message, parsing obtain the control instruction carried in the control message；According to the control instruction
Instruction important level with itself storage, judges whether important level corresponding to current control instruction exceeds default inquiry etc.
Grade；If the important level of current control instruction inquires message according to preset strategy generating beyond default inquiry grade；To
The opposite end for sending the control message sends the inquiry message, and when determining that the response message received is correct, executes institute
State control instruction；If it is determined that the response message received is incorrect or preset time in when not receiving response message, execute
Preset emergency operation.
It is worth noting that in information exchange, implementation procedure between module, unit in 3 device of above-described embodiment etc.
Processor in appearance and embodiment 4, it is specific interior due to being based on same design with processing method Examples 1 and 2 of the invention
Hold the narration that can be found in embodiment of the present invention method, details are not described herein again.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of embodiment is can to lead to
Program is crossed to instruct relevant hardware and complete, which can be stored in a computer readable storage medium, storage medium
It may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access
Memory), disk or CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of instruction executing method with interrogation function based on unmanned boat, which is characterized in that the described method includes:
Unmanned boat receiving control message, parsing obtain the control instruction carried in the control message；
The instruction important level that itself storage is matched according to the control instruction, judges important etc. corresponding to current control instruction
Whether grade is beyond default inquiry grade；
If the important level of current control instruction inquires message according to preset strategy generating beyond default inquiry grade；
The inquiry message is sent to the opposite end for sending the control message, and when determining that the response message received is correct,
Execute the control instruction；If it is determined that the response message received is incorrect or preset time in do not receive response message
When, execute preset emergency operation；
It is described that message is inquired according to preset strategy generating, it specifically includes:
Unmanned boat and bank base respectively maintain a set of identical random code generting machanism, wherein the generation factor of the first random code
One of be the first parameter value, then carry the first random code and the first parameter value of generation in the inquiry message；
The response message that then determination receives is correct, specifically includes:
Unmanned boat receives response message, carries third random code in the response message；
The second random code that the second parameter value calculation stored according to itself obtains；The third that verifying extracts from response message is random
Whether code is identical as second random code；Wherein, second parameter value and first parameter value are distinguished with matching form
It is stored on unmanned boat and bank base；
Determine that the response message received is correct if verification result is identical.
2. the instruction executing method with interrogation function according to claim 1 based on unmanned boat, which is characterized in that described
The setting of the instruction important level of itself storage, specifically includes:
According to the important level for the important level setting command adapted thereto for executing the control instruction object of being accessed；Wherein, the visit
Ask object include from low to high according to grade sonar collection result, radar collection result, one in video acquisition content or
It is multinomial；And/or
The important level of command adapted thereto is set according to the size of the adjusting parameter carried in control instruction；Wherein, adjusting parameter is pressed
It from low to high include adjusting parameter, middle amplitude adjusting parameter and significantly adjusting parameter by a small margin according to grade；And/or
According to the important level of the important level setting command adapted thereto for the content of being executed in control instruction；Wherein, content is executed
It from low to high include in opening/closing camera shooting, opening/closing sonar set, starting/stopping navigation and fire shells according to grade
One or more.
3. the instruction executing method with interrogation function according to claim 2 based on unmanned boat, which is characterized in that described
Important level corresponding to default inquiry grade and control instruction possesses identical unit, and the current control instruction institute of judgement is right
Whether the important level answered exceeds default inquiry grade, specifically includes:
Judge the important level, the size of adjusting parameter of access object corresponding to current control instruction and/or executes content
Parameter summation, mean value or the weighted sum result of one or more important level corresponding to important level, if exceed
The parameter value of default inquiry grade.
4. the instruction executing method with interrogation function according to claim 1 based on unmanned boat, which is characterized in that described
Message is inquired according to preset strategy generating, is specifically included:
Unmanned boat and bank base respectively maintain a set of identical random code generting machanism, wherein the generation factor of the first random code
One of be the first parameter value, then in the inquiry message carry the first random code of generation, the first parameter value and generate first with
The time tag of machine code；
The response message that then determination receives is correct, specifically includes:
Unmanned boat receives response message, carries third random code in the response message；
The second random code that the second parameter value calculation stored according to itself obtains；The third that verifying extracts from response message is random
Whether code is identical as second random code；Wherein, second parameter value is according to the time tag and the first parameter value
Common addressing obtains；
Determine that the response message received is correct if verification result is identical.
5. the instruction executing method with interrogation function according to claim 1 based on unmanned boat, which is characterized in that described
Message is inquired according to preset strategy generating, is specifically included:
Unmanned boat and bank base both sides maintain a set of key, wherein unmanned boat encrypts a content object using key, and will encryption
Content object afterwards carries in inquiry message；
The response message that then determination receives is correct, specifically includes:
Whether the content object that verifying extracts from response message is identical with content object before encrypting in unmanned boat, if verification result
It is identical, determine that the response message received is correct.
6. the instruction executing method with interrogation function according to claim 1 based on unmanned boat, which is characterized in that described
Preset emergency operation is executed, is specifically included:
Destroy one of the data acquired in unmanned boat, release pulsed urgent positioning signal, starting unmanned boat self-destruction program
Or it is a variety of.
7. a kind of instruction executing device with interrogation function based on unmanned boat, which is characterized in that device includes that control message connects
Receive module, control message parsing module, inquiry grade judgment module, inquiry message generating module, inquiry message transmission module and
Control instruction execution module, wherein control message receiving module, control message parsing module, inquiry grade judgment module, inquiry
Message generating module and inquiry message transmission module are sequentially connected, and the control message parsing module is also connected with the control instruction
Execution module, specific:
Control message receiving module is used for receiving control message；
Control message parsing module, for parsing the control instruction for obtaining carrying in the control message；
Inquire grade judgment module, for matching the instruction important level of itself storage according to the control instruction, judgement is current
Whether important level corresponding to control instruction exceeds default inquiry grade；
Inquire message generating module, it is raw according to preset strategy for when current control instruction is beyond default inquiry grade
At inquiry message；
Message transmission module is inquired, for sending the inquiry message to the opposite end for sending the control message；
Control instruction execution module, for executing the control instruction when determining that the response message received is correct；In determination
The response message received is incorrect or preset time in when not receiving response message, execute preset emergency operation；
The inquiry message generating module is also used to respectively maintain a set of identical random code generting machanism with bank base, wherein
One of generation factor of first random code is the first parameter value, then the first random code and the of generation is carried in the inquiry message
One parameter value；
The control instruction execution module is also used to obtain response message, carries third random code in the response message；According to
The second random code that second parameter value calculation of itself storage obtains；Verifying extract from response message third random code whether with
Second random code is identical；Wherein, second parameter value and first parameter value are respectively stored in nothing with matching form
On people's ship and bank base；Determine that the response message received is correct if verification result is identical.
8. the instruction executing device with interrogation function according to claim 7 based on unmanned boat, which is characterized in that described
Device further includes memory module,
The memory module is for control store instruction and important level corresponding relationship, wherein control instruction and important level pair
It should be related to and specifically include:
The important level of the control instruction corresponds to the important level of the control instruction object of being accessed；Wherein, described
Access object includes sonar collection result, radar collection result, the one or more in video acquisition content, the access pair
The important level of elephant is stored in the memory module；And/or
The important level of the control instruction corresponds to the important level that adjusting parameter size is carried in the control instruction；Its
In, adjusting parameter size includes adjusting parameter, middle amplitude adjusting parameter and significantly adjusting parameter by a small margin, the adjusting parameter
The important level of size is stored in the memory module；And/or
The important level of the control instruction corresponds to the important level of the execution content of the control instruction；Wherein, content is executed
Including opening the one or more in imaging, opening sonar set, stop navigation, navigate by water to designated position and fire shells,
The important level for executing content is stored in the memory module.
9. the instruction executing device with interrogation function according to claim 7 based on unmanned boat, which is characterized in that described
Control instruction execution module further includes emergency operation execution unit,
The emergency operation execution unit, for destroying the data acquired in unmanned boat, release pulsed urgent positioning signal, opening
One or more of dynamic unmanned boat self-destruction program.
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