CN114093201B - Flight equipment management method, device, equipment and storage medium - Google Patents
Flight equipment management method, device, equipment and storage medium Download PDFInfo
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- CN114093201B CN114093201B CN202010856332.5A CN202010856332A CN114093201B CN 114093201 B CN114093201 B CN 114093201B CN 202010856332 A CN202010856332 A CN 202010856332A CN 114093201 B CN114093201 B CN 114093201B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The application discloses a flight equipment management method, a device, equipment and a storage medium, wherein the flight equipment management method comprises the following steps: before the flying device takes off, the flying device sends a take-off request to the supervision device, wherein the take-off request comprises first authentication information, so that the supervision device authenticates the flying device according to the first authentication information, and sends take-off information to the flying device after the authentication is passed; the flying equipment receives the take-off information and executes take-off action; after taking off, the flight equipment acquires information sending conditions; when the information sending condition meets the preset condition, the flight device sends real-time flight information and second authentication information to the supervision device, so that the supervision device can generate control information according to the real-time flight information and the second authentication information; the flight equipment receives control information sent by the supervision equipment; the flying device performs a flying action corresponding to the control information. According to the embodiment of the application, the potential safety hazard existing in the flight of the unmanned aerial vehicle can be eliminated.
Description
Technical Field
The application belongs to the technical field of intelligent transportation, and particularly relates to a flight equipment management method, a device, equipment and a storage medium.
Background
With the development of technology, the field of flying equipment, such as unmanned aerial vehicle, is increasingly prosperous.
In the current unmanned aerial vehicle field, there is unmanned aerial vehicle unordered flight, by falsifying or by unmanned aerial vehicle of hijacking also can flight scheduling problem, lead to unmanned aerial vehicle flight to have the potential safety hazard.
Disclosure of Invention
The embodiment of the application provides a flight equipment management method, a flight equipment management device, flight equipment and a storage medium, which can eliminate potential safety hazards existing in the flight of an unmanned aerial vehicle.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, an embodiment of the present application provides a method for managing a flight device, where the method is applied to the flight device, and the method includes:
before the flying device takes off, the flying device sends a take-off request to a supervision device, wherein the take-off request comprises first authentication information, so that the supervision device authenticates the flying device according to the first authentication information, and sends take-off information to the flying device after the authentication is passed;
the flying equipment receives the take-off information and executes take-off action;
after taking off, the flying device acquires information sending conditions;
When the information sending condition meets a preset condition, the flight device sends real-time flight information and second authentication information to the supervision device, so that the supervision device generates control information according to the real-time flight information and the second authentication information;
the flying device receives the control information sent by the supervision device;
and the flying equipment executes the flying action corresponding to the control information.
In a second aspect, an embodiment of the present application provides a method for managing a flight device, where the method is applied to a supervision device, and the method includes:
the supervisory equipment receives a take-off request sent by the flight equipment, wherein the take-off request comprises first authentication information;
the supervision device authenticates the flight device according to the first authentication information;
when the authentication is passed, the supervision equipment sends take-off information to the flight equipment so as to be used for the flight equipment to execute take-off actions;
the monitoring device receives real-time flight information and second authentication information sent by the flight device under the condition that the information sending condition of the flight device meets the preset condition, wherein the real-time flight information and the second authentication information are sent by the flight device;
The supervision equipment generates control information according to the real-time flight information and the second authentication information;
and the supervision equipment sends the control information to the flight equipment so as to be used for the flight equipment to execute the flight action corresponding to the control information.
In a third aspect, an embodiment of the present application provides a flying apparatus, including:
the first sending module is used for sending a take-off request to the supervision equipment before the flying equipment takes off, wherein the take-off request comprises first authentication information, so that the supervision equipment authenticates the flying equipment according to the first authentication information, and sends take-off information to the flying equipment after the authentication is passed;
the first execution module is used for receiving the take-off information and executing take-off actions;
the acquisition module is used for acquiring information sending conditions after taking off;
the second sending module is used for sending real-time flight information and second authentication information to the supervision equipment when the information sending condition meets a preset condition, so that the supervision equipment can generate control information according to the real-time flight information and the second authentication information;
The first receiving module is used for receiving the control information sent by the supervision equipment;
and the second execution module is used for executing the flight action corresponding to the control information. Comprising the following steps:
in a fourth aspect, an embodiment of the present application provides a supervision apparatus, including:
the second receiving module is used for receiving a take-off request sent by the flying device, wherein the take-off request comprises first authentication information;
the authentication module is used for authenticating the flight equipment according to the first authentication information;
the third sending module is used for sending take-off information to the flying equipment when the authentication is passed, so as to be used for the flying equipment to execute take-off actions;
the third receiving module is used for receiving real-time flight information and second authentication information sent by the flight equipment under the condition that the information sending condition of the flight equipment meets the preset condition, wherein the real-time flight information and the second authentication information are sent by the flight equipment;
the generation module is used for generating control information according to the real-time flight information and the second authentication information;
and the fourth sending module is used for sending the control information to the flying equipment so as to be used for the flying equipment to execute the flying action corresponding to the control information. Comprising the following steps:
In a fifth aspect, an embodiment of the present application provides an apparatus, including: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements the flying device management method as described in the first aspect.
In a sixth aspect, an embodiment of the present application provides a computer storage medium having stored thereon computer program instructions which, when executed by a processor, implement the flying device management method according to the first aspect.
In the embodiment of the application, before taking off, the flying device can send a take-off request comprising first authentication information to the supervision device, so that the supervision device authenticates the flying device according to the first authentication information, and after passing the authentication, sends take-off information to the flying device. In this way, for a flying device like a tampered or hijacked drone, the supervising device may reject its takeoff request. In addition, the flight device may send real-time flight information and second authentication information to the supervisory device during the flight, for the supervisory device to generate control information according to the real-time flight information and the second authentication information. After receiving the control information, the flight device may execute a flight action corresponding to the control information. Therefore, the supervision equipment can manage the flight actions of the flight equipment through the control information, and the problems of unordered flight of the unmanned aerial vehicle and abnormal flight after the unmanned aerial vehicle is hijacked are solved. Therefore, potential safety hazards existing in unmanned aerial vehicle flight can be eliminated.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed to be used in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
FIG. 1 is a schematic illustration of a scenario provided by one embodiment of the present application;
FIG. 2 is a flow chart of a method for managing flying equipment according to another embodiment of the present application;
FIG. 3 is a block chain storage schematic diagram provided by another embodiment of the present application;
FIG. 4 is a schematic view of a flying apparatus according to another embodiment of the present application;
FIG. 5 is a schematic structural diagram of a supervision apparatus according to another embodiment of the present application;
fig. 6 is a schematic structural view of an apparatus according to still another embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are merely configured to illustrate the application and are not configured to limit the application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the application by showing examples of the application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The existing unmanned aerial vehicle broadcasting modes comprise a Beacon/ADS-B direct broadcasting mode, a ground station relay forwarding digital identity mode, an airborne cellular networking device direct sending digital identity mode, an airborne satellite networking device direct sending digital identity mode and the like, but the existing unmanned aerial vehicle broadcasting modes are all direct sending identities, such as digital identity Remote ID. Because authentication and authentication of the identity mark are not introduced, the unmanned aerial vehicle identity mark is easy to tamper in the transmission process, once the unmanned aerial vehicle identity mark is tampered, a tamperer can directly transmit fake identity mark information to a supervision department, the supervision department cannot quickly identify fake remote identity mark information or the unmanned aerial vehicle side has abnormal behaviors, the efficiency of the supervision department on unmanned aerial vehicle management and control is reduced, and the unmanned aerial vehicle management and control cannot be traced, so that great potential safety hazards are brought.
As described in the background art, in the existing field of unmanned aerial vehicles, there are problems that unmanned aerial vehicles fly unordered, tampered unmanned aerial vehicles can fly, and the like. Because the security performance of the tampered unmanned aerial vehicle is unknown, when the tampered unmanned aerial vehicle flies, potential safety hazards can be brought to other unmanned aerial vehicles, and the unordered flying of the unmanned aerial vehicle can also bring potential safety hazards to other unmanned aerial vehicles, so that potential safety hazards exist in the flying of the existing unmanned aerial vehicle.
In order to solve the problems in the prior art, the embodiment of the application provides a flight equipment management method, a device, equipment and a storage medium. The following first describes a flight device management method provided by an embodiment of the present application.
The execution subject of the flight device management method provided by the embodiment of the application can be flight devices or monitoring devices, wherein the flight devices can be unmanned aerial vehicles, and the monitoring devices can be devices managed by governments or organizations with flight type monitoring authorities, such as servers or service clusters. The application scenario may be as shown in fig. 1, where the flight device 110 may send authentication information and/or flight information to the supervisory device 120, and after receiving the information, the supervisory device 120 may send control information to the flight device 110 to manage the flight device 110.
As shown in fig. 2, the flight device management method provided by the embodiment of the application includes the following steps:
s201, before the flying device takes off, the flying device sends a take-off request to the supervision device.
In some embodiments, the takeoff request may include first authentication information, wherein the first authentication information may include first docket information and first flight plan information of the flight device.
Specifically, the docket information may include an identification of the flying device. Taking the flying device as an unmanned aerial vehicle as an example, the identity of the unmanned aerial vehicle may be a physical identity, such as an unmanned aerial vehicle manufacturer, a product serial number, and the like. Or in addition, the identity of the unmanned aerial vehicle can also be a Remote ID, wherein the Remote ID is a unique identity of Remote reporting of the civil unmanned aerial vehicle, and the Remote ID and the physical identifier are unique, and different from the physical identifier, the Remote ID also comprises an flight control SN number and an IMEI/IMEISV of a module in the airborne mobile communication module. The flight plan information may include information on flight routes, flight areas, flight duration, and the like.
In some embodiments, the message element Msg of the Remote ID may include: the message number msg_id, the message source identifier msg_res, the message destination identifier msg_des, the Remote ID, where the Remote ID may include an unmanned aerial vehicle manufacturer msg_maf, an unmanned aerial vehicle serial number msg_uassn, an IMEI/IMEISV number msg_imei, an unmanned aerial vehicle flight control SN number msg_control SN, a timestamp msg_ timestamp, SIM/eSIM number msg_esim, unmanned aerial vehicle real name registration identification information msg_reg, unmanned aerial vehicle location information msg_location, a flight plan authority number msg_authority, and the like, but may not be limited to the above-described message elements.
The message number may be a message number, and the receiver of the message may distinguish a message type, such as type int32, according to the message number. The eSIM functions are the same as the current mobile phone SIM card, and the difference is that: the mobile phone SIM card is an entity card, and is inserted into a card slot of the terminal when in use; and the eSIM is an electronic SIM card which is downloaded and installed into the onboard mobile communication module through a network. In this way, through reporting the SIM/eSIM number message element, the unmanned aerial vehicle real name registration identification information operator_reg can be obtained from the Operator node, and then the unmanned aerial vehicle real name registration identification information can be compared with the unmanned aerial vehicle real name registration identification information Msg_reg in the reported remote identity information Msg, so that whether the reported unmanned aerial vehicle real name registration identification information is real or not can be checked.
In this way, the flying device may send a takeoff request including the first authentication information to the supervising device before takeoff.
S202, the supervision device receives a take-off request sent by the flying device.
And S203, authenticating the flight equipment by the supervision equipment according to the first authentication information.
In some embodiments, after receiving the takeoff request sent by the flight device, the supervision device may authenticate the flight device according to the first authentication information included in the takeoff request, so as to determine whether the flight device is tampered or hijacked.
Alternatively, authentication may be performed by querying a preset database, and accordingly, the specific process in step S203 may be as follows: the supervision equipment searches first record information and first flight plan information in a preset database; if the first record information and the first flight plan information are found, passing authentication; if the first record information and the first flight plan information are not found, the authentication is not passed.
In some embodiments, the preset database may be a database corresponding to the supervisory device, and the preset database may be disposed inside the supervisory device or may be disposed outside the supervisory device. It is easy to understand that for a flight device with take-off authority, the record information and the flight plan information of the flight device are usually reported in advance, i.e. the supervision device will store the record information and the flight plan information of the flight device in a preset database in advance.
In this way, the supervision equipment can search the first record information and the first flight plan information in the preset database, and if the first record information and the first flight plan information are searched, authentication is passed; if the first record information and the first flight plan information are not found, the authentication is not passed.
And S204, when the authentication is passed, the supervision equipment sends take-off information to the flight equipment.
In some embodiments, the takeoff information may be corresponding information that allows the flying device to take off.
S205, the flying device receives the take-off information and executes take-off action.
In some embodiments, the flying device may perform a take-off action after receiving the take-off information.
S206, after taking off, the flying device acquires information sending conditions.
In some embodiments, the information transmission condition may be a condition that measures whether the flying device reports information to the supervising device. In this way, the flight device can acquire the information transmission condition after takeoff, for example, periodically acquire the information transmission condition.
S207, when the information sending condition meets the preset condition, the flight device sends real-time flight information and second authentication information to the supervision device.
In some embodiments, the preset condition may be at least one of the following conditions: the information sending condition is that the flight equipment receives an information reporting instruction sent by the supervision equipment; or the information sending condition is that the difference value between the moment when the flight equipment sends the authentication information to the supervision equipment last time and the preset moment is larger than the preset difference value, wherein the authentication information is the first authentication information or the second authentication information.
In some embodiments, the real-time flight information may include a real-time location and a timestamp, wherein the real-time location may be a current flight location of the flight device, such as a longitude and latitude of the current location; the timestamp may be the current time. The second authentication information may include second docket information and second flight plan information of the flight device.
The second recording information and the second flight plan information may be the same as the first recording information and the first flight plan information mentioned above, or may be different from the first recording information and the first flight plan information mentioned above. If the flight equipment sends a change after takeoff, the second docket information and the second flight plan information are different from the first docket information and the first flight plan information mentioned above. If the flight equipment does not change the docket information and the flight plan information after takeoff, the second docket information and the second flight plan information are identical to the aforementioned first docket information and first flight plan information.
In some embodiments, for some emergencies, such as temporary traffic control, the supervisory device may send an information reporting instruction to the flight device for instructing the flight device to report real-time flight information and second authentication information to learn about the flight condition of the flight device.
In some embodiments, the flight device may periodically actively report the real-time flight information and the second authentication information to the supervisory device, for example, when a difference between a time at which the flight device last sent the authentication information to the supervisory device and a preset time is greater than a preset difference, actively report the real-time flight information and the second authentication information to the supervisory device.
S208, the supervision device receives the real-time flight information and the second authentication information sent by the flight device.
S209, the supervision equipment generates control information according to the real-time flight information and the second authentication information.
In some embodiments, the control information may be used to control the flight action of the flying device, such as to control the flying device to stop flying, to control the flying device to fly out of a preset area, and so on.
In this way, the supervision device can generate the control information according to the received real-time flight information and the second authentication information after receiving the real-time flight information and the second authentication information sent by the flight device.
Alternatively, the specific process of step S209 may be as follows: the supervision equipment searches second record information and second flight plan information in a preset database, and if the second record information and the second flight plan information are not searched, the supervision equipment generates control information; or the monitoring device judges whether the real-time position is within the preset position range, and if the real-time position is not within the preset position range, the monitoring device generates control information; or the monitoring device judges whether the time stamp belongs to a preset period, and if the time stamp does not belong to the preset period, the monitoring device generates control information.
In some embodiments, after receiving the real-time flight information and the second authentication information, the supervisory device may determine whether to generate the control information according to whether the second record information and the second flight plan information exist in the preset database. Specifically, if the supervisory device does not find the second record information and the second flight plan information in the preset database, it indicates that the flight device is tampered or hijacked, and at this time, the supervisory device may generate control information, for example, to control the flight device to stop flying. In addition, the supervision device may determine whether the real-time position in the real-time flight information is within a preset position range, and if the real-time position is not within the preset position range, the supervision device may generate control information, such as controlling the flight device to fly away from a preset area. In addition, the supervision device may determine whether the timestamp in the real-time flight information belongs to a preset period, and if the timestamp does not belong to the preset period, the supervision device may generate control information, such as controlling the flight device to stop flying.
Optionally, to improve the security of the data, the following processing may be performed: the supervisory device stores the real-time flight information, the second authentication information, and the control information in the blockchain.
In some embodiments, the supervising device may store real-time flight information, second authentication information, and control information in the blockchain, considering that blockchain technology is of an irreversible nature.
As shown in fig. 3, a block chain storage schematic diagram storing the real-time flight information, the second authentication information and the control information is provided, wherein the block chain includes three blocks, namely an (n-1) th block, an (n) th block and an (n+1) th block, and each block can include information such as a block header, a traffic management message hash value and the like.
The order of the (n-1) -th block, the (n) -th block, and the (n+1) -th block is merely a schematic order, and is not limited thereto. For example, the remote identification message may be recorded in the blockchain 1, the traffic management message may be recorded in the separately established blockchain 2, and in actual management, the traffic management message and the remote identification message may be recorded in one blockchain.
And S210, the supervision equipment sends control information to the flight equipment.
S211, the flying device receives the control information sent by the supervision device.
S212, the flight device executes the flight action corresponding to the control information.
In some embodiments, after receiving the control information sent by the supervisory device, the flight device may perform a flight action corresponding to the control information, such as landing immediately, or flying away from a preset area within a preset period of time.
In the embodiment of the application, before taking off, the flying device can send a take-off request comprising first authentication information to the supervision device, so that the supervision device authenticates the flying device according to the first authentication information, and after passing the authentication, sends take-off information to the flying device. In this way, for a flying device like a tampered or hijacked drone, the supervising device may reject its takeoff request. In addition, the flight device may send real-time flight information and second authentication information to the supervisory device during the flight, for the supervisory device to generate control information according to the real-time flight information and the second authentication information. After receiving the control information, the flight device may execute a flight action corresponding to the control information. Therefore, the supervision equipment can manage the flight actions of the flight equipment through the control information, and the problems of unordered flight of the unmanned aerial vehicle and abnormal flight after the unmanned aerial vehicle is hijacked are solved. Therefore, potential safety hazards existing in unmanned aerial vehicle flight can be eliminated.
In order to better understand the flight device management method provided by the above embodiment, taking an unmanned aerial vehicle as an example, a flight device management system is provided, where the system may include an unmanned aerial vehicle, an airborne mobile communication module, an operator, a cloud platform, and a supervision department.
The on-board mobile communication module may include a Secure Element (SE), among others. The SE may comprise two parts, one being a hardware part and one being a software part. The hardware part, which may be understood as a separate embedded computer, may comprise a CPU. It should be noted that, the SE needs to support an encryption algorithm, for example, encryption and decryption by AES, and asymmetric encryption by elliptic curve. In addition, the SE is also provided with a unique identification, including generation of random numbers. The cloud platform can be an unmanned aerial vehicle management operation cloud platform, and can be a cloud platform developed by unmanned aerial vehicle enterprises.
The processing logic of the flying equipment management system is specifically as follows:
firstly, initializing, and based on Public key cryptography (Public-Key Infrastructure, PKI), an authentication center (Certificate Authority, CA) issues Public keys and private keys for unmanned plane nodes, airborne mobile communication module nodes, operator nodes, cloud platform nodes and administrative department nodes to generate Public parameters.
And then, the unmanned aerial vehicle node is started to request to access a cellular network, report a Remote ID, position information, SIM/eSIM, real name registration identification information, flight plan authorization number and the like, and the operator node performs legal authentication on the position information, IMEI/IMEISV and SIM/eSIM number corresponding identity information reported by the unmanned aerial vehicle, reports the cloud platform after the authentication is passed, and reports the cloud platform to a supervision department, or directly reports the supervision department to request authentication by the operator node. The supervision department searches in the unmanned aerial vehicle record database through supervision equipment, if record information and flight plan record information of the unmanned aerial vehicle exist, authentication and authentication pass, an operator node allows access to a network, the unmanned aerial vehicle allows take-off, and meanwhile, a Remote ID of the unmanned aerial vehicle is stored in an SE chip of the mobile communication module through an encryption algorithm. If any one of the record information and the flight plan report information of the unmanned aerial vehicle is not matched with the information in the database, taking off is not allowed.
The field with more remote identity marks than the physical identity marks is IMEI/IMEISV number and flight control SN number, the IMEI/IMEISV field is obtained from a module in the airborne mobile communication module, and the real-name registration identification information of the unmanned aerial vehicle and the SIM/eSIM number of the airborne mobile communication module can obtain real-name authentication identity from an operator node for verification.
Then, unmanned aerial vehicle takes off, and unmanned aerial vehicle can initiatively report the message, and long-range identity information element includes at least: message source identification, remote ID, timestamp, location information (latitude and longitude), SIM/eSIM number, unmanned aerial vehicle real name registration identification information, flight authorization number, etc. Firstly, checking the Remote ID of the message sent by the unmanned aerial vehicle with the Remote ID stored in the SE chip in the airborne mobile communication module. When the verification results are consistent, the private key of the airborne mobile communication module node encrypts the remote identity information, calculates the hash value of the remote identity information, signs the hash value, and sends the hash value to the cloud platform node through the operator node and then to the supervision department node or directly sends the hash value to the supervision department node. When the verification results are inconsistent, the private key of the airborne mobile communication module node encrypts the Remote identity information together with the Remote ID stored in the SE chip, calculates hash values of the Remote identity information and the Remote ID, signs the calculated hash values to the cloud platform node, and then sends the hash values to a supervision department or directly sends the hash values to the supervision department.
The encryption algorithm can be an asymmetric encryption algorithm such as an NTRU lattice public key encryption algorithm, RSA, elgamal, knapsack algorithm, rabin, D-H, ECC and the like, or a combination of a symmetric encryption algorithm and an asymmetric encryption algorithm.
After receiving the signature, the supervision department node can use its own public key to decrypt and verify the correctness of the signature, and at the same time, check whether the remote identity information is legal. The content of the inspection may include: 1) Comparing with the data in the record database to check whether the Remote ID is legal or not; 2) Checking whether the reported position information flies in a legal airspace; 3) And checking whether the real-name registration identification information of the unmanned aerial vehicle exists in the record database and is matched with the record database. 4) It is checked whether the timestamp msg_timestamp of the message reported by the drone is within a time period of authorized flight.
The method for judging whether the Remote ID is legal may be: and comparing the manufacturer code in the Remote ID with the serial number of the unmanned aerial vehicle serving as a search condition with information in a record database, and checking whether the Msg_IMEI number is matched with the record IMEI number in the database. The method for judging whether the reported position information flies in the legal air space can comprise the following steps: the method comprises the steps of comparing the positioning information of an operator node base station with reported position information Msg_location to perform position verification, and checking whether the position information is in a reasonable area error or not or whether the reported position information flies in an authorized flight area or not.
It should be noted that the mobile network location authentication may include: for the position information Pu reported by the unmanned aerial vehicle, the supervision department or the unmanned aerial vehicle management platform can perform position verification on the unmanned aerial vehicle position Pm through mobile network positioning, such as base station triangulation positioning. The specific process is as follows: the cloud platform node/the supervision department node acquires a timestamp, pu and remoteID, and acquires an IMEI/IMEISV number from the remoteID; the cloud platform node/supervision department node obtains the position Pm of the timestamp corresponding to the IMEI/IMEISV through a mobile operator network; comparing the longitude and latitude with the altitude of Pu and Pm, wherein the longitude and latitude and the altitude are required to be the same within a certain error range, for example, within 100 m; if pu=pm, the unmanned aerial vehicle position authentication passes; if Pu is not equal to Pm, pu reported by the unmanned aerial vehicle may be a false position, log recording is needed, and corresponding supervision measures are adopted. The key point of this technology is that the UAV/UAV controller cannot modify the position Pm reported by the mobile network, which is a high-level confidence position authentication method. If the unmanned aerial vehicle passes through the method, the next step is continuously executed, otherwise, the supervision department is required to give an alarm to the unmanned aerial vehicle nodes, or countermeasures are adopted according to relevant regulations, so that the unmanned aerial vehicle flight assembled by the mountain village or the illegal flight of the unmanned aerial vehicle which is in the illegal airspace or hijacked is prevented, and the airspace safety is further ensured.
And then, whether the remote identity information of the unmanned aerial vehicle exists or not can be searched on a blockchain of the remote identity information of the unmanned aerial vehicle, if so, the remote identity information obtained at the present time is represented as illegal information, the illegal information is recorded in the blockchain, the illegal information is marked in a block, and a supervision department node sends an alarm to the unmanned aerial vehicle node or other countermeasures are taken according to related regulations. If the search result does not exist, the hash value obtained by calculating the remote identity information of the unmanned aerial vehicle is created after the last block according to the time sequence, the remote identity information is written into the block, the block is marked as legal information, and finally the block is broadcasted.
Thereafter, in the blockchain in which information is recorded, the contents of the block header of one block may include: hash value of remote identity information, establishing time of block, pointer of front and back block; the block body comprises the following specific contents: the public key address of the mobile communication module node, the public key address of the supervision department node, whether the Remote identity information is legal mark (Y/N), the Remote identity information (information source identification, remote ID of the unmanned aerial vehicle, timestamp when the unmanned aerial vehicle sends the information, SIM/eSIM number, unmanned aerial vehicle real name registration identification information, unmanned aerial vehicle position information, flight plan authorization number and the like); the hash value of the remote identity information is recorded in the block, the specific remote identity information content is stored in the cloud server, and the hash value is used as an index of the remote identity information, so that not only is the block chain redundancy caused by excessive block content avoided, but also an efficient index method is provided, and the supervision department is ensured to be capable of efficiently identifying the unmanned aerial vehicle.
And then, the supervision department can also request the unmanned aerial vehicle to report the remote identity information, namely the unmanned aerial vehicle passively reports the remote identity information, and the traffic management information of the supervision department is firstly encrypted by using a private key of the supervision department and signs the calculated hash value and then is sent to the cloud platform node or is directly sent to the mobile communication module node through the operator node. Preferably, the message element of the traffic management message may comprise: message number, message source identification, message destination identification, remote ID of unmanned aerial vehicle requiring reporting message, command type identification, command message content, timestamp. But are not limited to, the message elements described above. The traffic management message is saved to the blockchain.
The command type identifier is exemplified as follows:
cmd1: indicating that the unmanned aerial vehicle needs to land immediately in the appointed area after receiving the instruction;
cmd2, the unmanned aerial vehicle leaves the designated area within one hour after receiving the instruction, and the unmanned aerial vehicle cannot leave to finish the return flight descent;
cmd3, namely leaving a designated area within two hours after the unmanned aerial vehicle receives the instruction, and completing the return flight decline which cannot be left;
cmd4, standby instruction;
cmd5 standby instruction.
Then, the hash value obtained by calculating the traffic management information of this time can be created after the last block according to the time sequence, a new block is created, the traffic management information of this time is written into the block, and finally the block is broadcasted.
Thereafter, in the blockchain in which the traffic management message is recorded, the contents of the block header of one block may include: hash value of traffic management message, time of establishing block, pointers of front and back blocks; the specific content of the zone block comprises: the administrative department node public key address, traffic management information (message number, message source identification, message target identification, remote ID of unmanned aerial vehicle requiring reporting information, command type identification, command message content, time stamp, etc.), and issuing command personnel identity information;
and then, the mobile communication module node verifies the correctness of the signature after receiving the signature, decrypts and verifies the correctness of the signature by using the public key of the mobile communication module node, and simultaneously checks whether the traffic management message is legal or not. And transmitting the decrypted data to the unmanned aerial vehicle flight control unit to execute the command.
And then, the unmanned aerial vehicle needs to report the remote identity information again, and the steps are repeated.
The application is based on block chain and encryption algorithm, and introduces multiple security mechanisms such as verification of SE chip in the airborne mobile communication module, can ensure the security of the unmanned aerial vehicle remote identity information transmission link, can effectively prevent falsification, can identify false remote identity information, can facilitate the supervision department to find illegal actions such as refitting or hijacking of unmanned aerial vehicle in time, and ensure the safe and legal flight of unmanned aerial vehicle in airspace. In addition, the unmanned aerial vehicle periodically reports correct remote identity information, and a safe transmission channel for receiving traffic management information of the regulatory department by the unmanned aerial vehicle is also provided, so that the regulatory department can manage and control the unmanned aerial vehicle more conveniently.
Based on the flight equipment management method provided by the embodiment, correspondingly, the application further provides a specific implementation mode of the flight equipment. Please refer to the following examples.
Referring to fig. 4, the flying device provided by the embodiment of the application comprises the following modules:
a first sending module 410, configured to send a take-off request to a supervisory device before the take-off of the flight device, where the take-off request includes first authentication information, so that the supervisory device authenticates the flight device according to the first authentication information, and sends take-off information to the flight device after the authentication is passed;
The first execution module 420 is configured to receive the take-off information and execute a take-off action;
an acquiring module 430, configured to acquire information sending conditions after taking off;
a second sending module 440, configured to send real-time flight information and second authentication information to the monitoring device when the information sending condition meets a preset condition, so that the monitoring device generates control information according to the real-time flight information and the second authentication information;
a first receiving module 450, configured to receive the control information sent by the supervision device;
and a second execution module 460, configured to execute a flight action corresponding to the control information.
Optionally, the preset condition at least includes one of the following: the information sending condition is that the flight equipment receives an information reporting instruction sent by the supervision equipment; or the information sending condition is that the difference between the last time of the flight device sending authentication information to the supervision device and the preset time is larger than the preset difference, and the authentication information is the first authentication information or the second authentication information.
Optionally, the second execution module 460 is specifically configured to: immediately falling; or fly away from the preset area within the preset period.
In the embodiment of the application, before taking off, the flying device can send a take-off request comprising first authentication information to the supervision device, so that the supervision device authenticates the flying device according to the first authentication information, and after passing the authentication, sends take-off information to the flying device. In this way, for a flying device like a tampered or hijacked drone, the supervising device may reject its takeoff request. In addition, the flight device may send real-time flight information and second authentication information to the supervisory device during the flight, for the supervisory device to generate control information according to the real-time flight information and the second authentication information. After receiving the control information, the flight device may execute a flight action corresponding to the control information. Therefore, the supervision equipment can manage the flight actions of the flight equipment through the control information, and the problems of unordered flight of the unmanned aerial vehicle and abnormal flight after the unmanned aerial vehicle is hijacked are solved. Therefore, potential safety hazards existing in unmanned aerial vehicle flight can be eliminated.
The modules in the flight device provided in fig. 4 have functions of implementing the steps in the embodiment shown in fig. 2, and achieve the same technical effects as those of the flight device management method shown in fig. 2, and are not described herein for brevity.
Based on the flight equipment management method provided by the embodiment, correspondingly, the application further provides a specific implementation mode of the supervision equipment. Please refer to the following examples.
Referring to fig. 5, the supervision device provided by the embodiment of the present application includes the following modules:
a second receiving module 510, configured to receive a takeoff request sent by a flight device, where the takeoff request includes first authentication information;
an authentication module 520, configured to authenticate the flight device according to the first authentication information;
a third sending module 530, configured to send take-off information to the flight device for the flight device to perform take-off actions when the authentication passes;
a third receiving module 540, configured to receive real-time flight information and second authentication information sent by the flight device, where the information sending condition of the flight device meets a preset condition;
a generating module 550, configured to generate control information according to the real-time flight information and the second authentication information;
and a fourth sending module 560, configured to send the control information to the flight device, so that the flight device performs a flight action corresponding to the control information.
Optionally, the first authentication information includes first record information and first flight plan information of the flight device; correspondingly, the authentication module 520 is specifically configured to:
searching the first record information and the first flight plan information in a preset database;
if the first record information and the first flight plan information are searched, passing authentication;
if the first record information and the first flight plan information are not found, the authentication is not passed.
Optionally, the real-time flight information includes a real-time location and a timestamp, and the second authentication information includes second record information and second flight plan information of the flight device; accordingly, the generating module 550 is specifically configured to:
searching the second record information and the second flight plan information in a preset database, and generating control information by the supervision equipment if the second record information and the second flight plan information are not searched;
or judging whether the real-time position is in a preset position range, and if the real-time position is not in the preset position range, generating control information by the supervision equipment;
Or judging whether the time stamp belongs to a preset period, and if the time stamp does not belong to the preset period, generating control information by the supervision equipment.
Optionally, the supervision device further includes a storage module, configured to: and storing the real-time flight information, the second authentication information and the control information in a blockchain.
In the embodiment of the application, before taking off, the flying device can send a take-off request comprising first authentication information to the supervision device, so that the supervision device authenticates the flying device according to the first authentication information, and after passing the authentication, sends take-off information to the flying device. In this way, for a flying device like a tampered or hijacked drone, the supervising device may reject its takeoff request. In addition, the flight device may send real-time flight information and second authentication information to the supervisory device during the flight, for the supervisory device to generate control information according to the real-time flight information and the second authentication information. After receiving the control information, the flight device may execute a flight action corresponding to the control information. Therefore, the supervision equipment can manage the flight actions of the flight equipment through the control information, and the problems of unordered flight of the unmanned aerial vehicle and abnormal flight after the unmanned aerial vehicle is hijacked are solved. Therefore, potential safety hazards existing in unmanned aerial vehicle flight can be eliminated.
Each module in the supervision device provided in fig. 5 has a function of implementing each step in the embodiment shown in fig. 2, and achieves the same technical effects as the flying device management method shown in fig. 2, and for brevity description, a detailed description is omitted herein.
Fig. 6 is a schematic diagram of a hardware structure of an apparatus implementing various embodiments of the present application.
The device may comprise a processor 601 and a memory 602 storing computer program instructions.
In particular, the processor 601 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.
Memory 602 may include mass storage for data or instructions. By way of example, and not limitation, memory 602 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the above. The memory 602 may include removable or non-removable (or fixed) media, where appropriate. Memory 602 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 602 is a non-volatile solid state memory. In particular embodiments, memory 602 includes Read Only Memory (ROM). The ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these, where appropriate.
The processor 601 implements any of the flying device management methods of the above embodiments by reading and executing computer program instructions stored in the memory 602.
In one example, the device may also include a communication interface 603 and a bus 610. As shown in fig. 6, the processor 601, the memory 602, and the communication interface 603 are connected to each other through a bus 610 and perform communication with each other.
The communication interface 603 is mainly used for implementing communication between each module, apparatus, unit and/or device in the embodiment of the present application.
Bus 610 includes hardware, software, or both, coupling the components of the device to one another. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 610 may include one or more buses, where appropriate. Although embodiments of the application have been described and illustrated with respect to a particular bus, the application contemplates any suitable bus or interconnect.
The device may perform the method for managing a flying device according to the embodiment of the present application, thereby implementing the method for managing a flying device according to the embodiment shown in fig. 2.
The embodiment of the application also provides a computer readable storage medium, wherein the computer storage medium is stored with computer program instructions; when the computer program instructions are executed by the processor, the processes of the embodiments of the flight device management method are implemented, and the same technical effects can be achieved, so that repetition is avoided, and the detailed description is omitted.
It should be understood that the application is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after appreciating the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present application, and they should be included in the scope of the present application.
Claims (10)
1. A method of managing a flying device, the method being applied to a flying device, the method comprising:
before the flying device takes off, the flying device sends a take-off request to a supervision device, wherein the take-off request comprises first authentication information, so that the supervision device authenticates the flying device according to the first authentication information, and sends take-off information to the flying device after the authentication is passed, the first authentication information comprises first record information and first flight plan information of the flying device, the flying device is an unmanned plane, the unmanned plane comprises an airborne mobile communication module, the airborne mobile communication module comprises a secure element SE, the secure element supports an encryption algorithm, and the first record information comprises a Remote ID;
The flying device receives the take-off information, executes take-off action and stores the Remote ID into the secure element through an encryption algorithm;
after taking off, the flying device acquires information sending conditions;
when the information sending condition meets a preset condition, the flight device sends real-time flight information and second authentication information to the supervision device, so that the supervision device generates control information according to the real-time flight information and the second authentication information, wherein the second authentication information comprises second record information and second flight plan information of the flight device, and the second record information comprises a Remote ID;
the flying device receives the control information sent by the supervision device;
the flight equipment executes flight actions corresponding to the control information;
when the record information and the flight plan information are changed, the second record information and the second flight plan information are different from the first record information and the first flight plan information;
the method further comprises the steps of:
the unmanned aerial vehicle takes off, unmanned aerial vehicle initiatively reports the message, remote identity information element includes the Remote ID at least, at first carry out the check with the Remote ID that the unmanned aerial vehicle sent the message and the SE chip in the airborne mobile communication module kept, when the check result is unanimous, the private key of airborne mobile communication module node encrypts Remote identity information, calculate the hash value of Remote identity information, then sign hash value, send to the supervision department node through the operator node again or directly send to the supervision department node, when the check result is inconsistent, the private key of airborne mobile communication module node encrypts Remote identity information and Remote identity ID that keeps in the SE chip together, calculate the hash value of both, and send the hash value of calculation to the cloud platform node again, send to supervision department node or directly to the supervision department node, after receiving the signature, use self public key to decrypt and verify the correctness of signature, simultaneously, check whether this time Remote identity information is legal.
2. The method of claim 1, wherein the preset conditions include at least one of:
the information sending condition is that the flight equipment receives an information reporting instruction sent by the supervision equipment; or alternatively, the process may be performed,
the information sending condition is that the difference value between the moment when the flight equipment sends the authentication information to the supervision equipment last time and the preset moment is larger than the preset difference value.
3. The method of claim 1, wherein the flying device performing a flying action corresponding to the control information comprises:
the flying device immediately drops;
or the flying device flies away from a preset area within a preset period.
4. A method of flying device management, the method being applied to a regulatory device and a regulatory authority node, the method comprising:
the supervision device receives a take-off request sent by a flight device, wherein the take-off request comprises first authentication information, the first authentication information comprises first record information and first flight plan information of the flight device, the flight device is an unmanned aerial vehicle, the unmanned aerial vehicle comprises an airborne mobile communication module, the airborne mobile communication module comprises a secure element SE, the secure element supports an encryption algorithm, and the first record information comprises a Remote ID;
The supervision device authenticates the flight device according to the first authentication information;
when authentication is passed, the supervision device sends take-off information to the flight device for the flight device to execute take-off actions, and stores the Remote ID into the secure element through an encryption algorithm;
when the information sending condition of the flight device meets a preset condition, the supervision device receives real-time flight information and second authentication information sent by the flight device, wherein the second authentication information comprises second record information and second flight plan information of the flight device, and the second record information comprises a Remote ID;
the supervision equipment generates control information according to the real-time flight information and the second authentication information;
the supervision device sends the control information to the flight device so as to be used for the flight device to execute the flight action corresponding to the control information;
when the record information and the flight plan information are changed, the second record information and the second flight plan information are different from the first record information and the first flight plan information;
The method further comprises the steps of:
the unmanned aerial vehicle takes off, unmanned aerial vehicle initiatively reports the message, remote identity information element includes the Remote ID at least, at first carry out the check with the Remote ID that the unmanned aerial vehicle sent the message and the SE chip in the airborne mobile communication module kept, when the check result is unanimous, the private key of airborne mobile communication module node encrypts Remote identity information, calculate the hash value of Remote identity information, then sign hash value, send to the supervision department node through the operator node again or directly send to the supervision department node, when the check result is inconsistent, the private key of airborne mobile communication module node encrypts Remote identity information and Remote identity ID that keeps in the SE chip together, calculate the hash value of both, and send the hash value of calculation to the cloud platform node again, send to supervision department node or directly to the supervision department node, after receiving the signature, use self public key to decrypt and verify the correctness of signature, simultaneously, check whether this time Remote identity information is legal.
5. The method of claim 4, wherein the authenticating the flying device by the supervising device according to the first authentication information comprises:
The supervision equipment searches the first record information and the first flight plan information in a preset database;
if the first record information and the first flight plan information are searched, passing authentication;
if the first record information and the first flight plan information are not found, the authentication is not passed.
6. The method of claim 4, wherein the real-time flight information includes a real-time location and a timestamp;
the supervision device generates control information according to the real-time flight information and the second authentication information, and the supervision device comprises:
the supervision equipment searches the second record information and the second flight plan information in a preset database, and if the second record information and the second flight plan information are not found, the supervision equipment generates control information;
or the monitoring device judges whether the real-time position is within a preset position range, and if the real-time position is not within the preset position range, the monitoring device generates control information;
or the supervision device judges whether the time stamp belongs to a preset period, and if the time stamp does not belong to the preset period, the supervision device generates control information.
7. The method of claim 4, wherein after the supervisory device generates control information from the real-time flight information and the second authentication information, the method further comprises:
the supervisory device stores the real-time flight information, the second authentication information, and the control information in a blockchain.
8. A flying apparatus, comprising:
the system comprises a first sending module, a second sending module and a monitoring device, wherein the first sending module is used for sending a take-off request to the monitoring device before the take-off of the flight device, the take-off request comprises first authentication information, the monitoring device is used for authenticating the flight device according to the first authentication information and sending take-off information to the flight device after the authentication is passed, the first authentication information comprises first record information and first flight plan information of the flight device, the flight device is an unmanned plane, the unmanned plane comprises an airborne mobile communication module, the airborne mobile communication module comprises a security element SE, the security element supports an encryption algorithm, and the first record information comprises a Remote ID;
the first execution module is used for receiving the take-off information, executing take-off action and storing the Remote ID into the secure element through an encryption algorithm;
The acquisition module is used for acquiring information sending conditions after taking off;
the second sending module is used for sending real-time flight information and second authentication information to the supervision equipment when the information sending condition meets a preset condition, so that the supervision equipment can generate control information according to the real-time flight information and the second authentication information, the second authentication information comprises second record information and second flight plan information of the flight equipment, and the second record information comprises a Remote ID;
the first receiving module is used for receiving the control information sent by the supervision equipment;
the second execution module is used for executing the flight action corresponding to the control information;
when the record information and the flight plan information are changed, the second record information and the second flight plan information are different from the first record information and the first flight plan information;
the second sending module is further configured to:
the unmanned aerial vehicle takes off, unmanned aerial vehicle initiatively reports the message, remote identity information element includes the Remote ID at least, at first carry out the check with the Remote ID that the unmanned aerial vehicle sent the message and the SE chip in the airborne mobile communication module kept, when the check result is unanimous, the private key of airborne mobile communication module node encrypts Remote identity information, calculate the hash value of Remote identity information, then sign hash value, send to the supervision department node through the operator node again or directly send to the supervision department node, when the check result is inconsistent, the private key of airborne mobile communication module node encrypts Remote identity information and Remote identity ID that keeps in the SE chip together, calculate the hash value of both, and send the hash value of calculation to the cloud platform node again, send to supervision department node or directly to the supervision department node, after receiving the signature, use self public key to decrypt and verify the correctness of signature, simultaneously, check whether this time Remote identity information is legal.
9. An apparatus, the apparatus comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements a flying device management method as claimed in any one of claims 1-3 or claims 4-7.
10. A computer storage medium having stored thereon computer program instructions which, when executed by a processor, implement the flying device management method of any one of claims 1-3 or claims 4-7.
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| CN117295062B (en) * | 2023-11-23 | 2024-02-27 | 南京傲翼飞控智能科技有限公司 | Bluetooth 5.0-based unmanned aerial vehicle body ID remote identification system and identification method |
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