CN112189175A - Anti-cracking method of unmanned aerial vehicle, user terminal and unmanned aerial vehicle - Google Patents
Anti-cracking method of unmanned aerial vehicle, user terminal and unmanned aerial vehicle Download PDFInfo
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- 238000005336 cracking Methods 0.000 title claims abstract description 10
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- 238000004590 computer program Methods 0.000 claims description 26
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The specification discloses an anti-cracking method for an unmanned aerial vehicle, a user terminal and the unmanned aerial vehicle, comprising the steps of obtaining a terminal position (S110); acquiring a flight position (S120); determining a positioning distance between the user terminal and the unmanned aerial vehicle (S130); determining a communication distance according to delay information between the user terminal and the unmanned aerial vehicle (S140); judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance (S150); and if not, controlling the unmanned aerial vehicle to execute a preset action (S160).
Description
Technical Field
The specification relates to the technical field of unmanned aerial vehicles, in particular to an anti-cracking method of an unmanned aerial vehicle, a user terminal and the unmanned aerial vehicle.
Background
In order to ensure the flight safety of the unmanned aerial vehicle, flight limiting areas such as a clearance area and a no-fly area are usually set. And judging whether the unmanned aerial vehicle is in the flight limiting area or not according to the position of the unmanned aerial vehicle and/or the position of the user terminal, so as to judge whether the unmanned aerial vehicle takes off or not and the take-off height.
However, in order to break through these limitations, some users may use some means to break or interfere with the position of the unmanned aerial vehicle and/or the position of the user terminal, so that the unmanned aerial vehicle and/or the user terminal report the position outside the flight limitation area, thereby achieving the purpose of free flight in the flight limitation area. For example, the existing commonly used method for preventing the positioning device from being cracked is to authenticate the data of the positioning device, but the method still has the possibility of being cracked technically, and the positioning device cannot be cracked through self-checking after being cracked. In addition, the positioning device can demodulate the wrong position information by transmitting the interference signal, and the problem cannot be found by the self-check of the positioning device. At this point, other means are needed to determine whether the positioning device is cracked or interfered.
Disclosure of Invention
Based on this, the specification provides a method for preventing the unmanned aerial vehicle from being cracked, a user terminal and the unmanned aerial vehicle, and aims to solve the technical problems that the position of the unmanned aerial vehicle and/or the position of the user terminal flies into a flight limiting area and the like through cracking or interference.
In a first aspect, the present specification provides a method for preventing a unmanned aerial vehicle from being broken, which is used for a user terminal, and is characterized in that the method comprises:
acquiring the terminal position of the user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, controlling the unmanned aerial vehicle to execute a preset action.
In a second aspect, the present specification provides a method of anti-fragmentation of an unmanned aerial vehicle, for an unmanned aerial vehicle, the method comprising:
acquiring a terminal position of a user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, executing a preset action.
In a third aspect, the present specification provides a user terminal, comprising a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, to implement:
acquiring the terminal position of the user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, controlling the unmanned aerial vehicle to execute a preset action.
In a fourth aspect, the present specification provides an unmanned aerial vehicle comprising a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, to implement:
acquiring a terminal position of a user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, executing a preset action.
In a fifth aspect, the present specification provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to carry out the method described above.
The embodiment of the specification provides an anti-cracking method of an unmanned aerial vehicle, a user terminal and the unmanned aerial vehicle, wherein a positioning distance is determined according to a terminal position of the user terminal and a flight position of the unmanned aerial vehicle, and a communication distance between the user terminal and the unmanned aerial vehicle is determined according to delay information of signal transmission between the user terminal and the unmanned aerial vehicle; and then judging whether the flight position and the terminal position are both accurate according to the communication distance with higher accuracy, and if at least one of the flight position and the terminal position is inaccurate, executing a preset action by the unmanned aerial vehicle so as to prevent the unmanned aerial vehicle from being controlled to fly in a flight limiting area by breaking a user terminal or a positioning device of the unmanned aerial vehicle.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for preventing a breakup of an unmanned aerial vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a user terminal in communication with an unmanned aerial vehicle;
FIG. 3 is a schematic flow chart diagram illustrating a method for anti-aircraft breach in accordance with another exemplary embodiment of the present disclosure;
fig. 4 is a schematic block diagram of a user terminal provided in an embodiment of the present specification;
fig. 5 is a schematic block diagram of an unmanned aerial vehicle provided in an embodiment of the present description.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Some embodiments of the present description will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for preventing a break of an unmanned aerial vehicle according to an embodiment of the present disclosure. The anti-cracking method can be applied to a user terminal and is used for judging whether the flight position and the terminal position are accurate or not and controlling the unmanned aerial vehicle to execute the processes of preset actions and the like when the flight position and the terminal position are inaccurate.
The user terminal may include at least one of a mobile terminal, a remote control terminal, and a wearable device. The wearable device includes a mobile terminal such as a mobile phone, a tablet computer, a notebook computer, etc., a remote control terminal such as a remote controller of an unmanned aerial vehicle, etc., and a wearable device such as FPV (First Person View) glasses, VR (Virtual Reality) glasses, etc.
Unmanned vehicles can be, for example, rotary wing type drones, such as quad-rotor drones, hexa-rotor drones, eight-rotor drones, and also fixed wing drones.
Further, as shown in fig. 2, the user terminal and the unmanned aerial vehicle communicate with each other through a wireless channel. The unmanned aerial vehicle may fly according to the control of the user terminal, or the unmanned aerial vehicle may fly autonomously. The user carries the user terminal, and when the unmanned aerial vehicle needs to return to the air independently or return to the air according to the control of the user terminal, the unmanned aerial vehicle returns to the position of the user terminal.
For example, as shown in fig. 2, the user terminal may display the position B of the unmanned aerial vehicle and the position a of the user terminal.
As shown in fig. 1, the anti-cracking method for the unmanned aerial vehicle according to the embodiment includes steps S110 to S160.
And S110, acquiring the terminal position of the user terminal.
For example, the user terminal is equipped with a positioning device, and the position of the user terminal can be determined by a navigation system, for example.
For example, the user terminal obtains the longitude and latitude of the user terminal determined by the positioning device carried by the user terminal.
Illustratively, the user terminal periodically acquires the terminal location.
And S120, acquiring the flight position of the unmanned aerial vehicle.
Illustratively, the unmanned aerial vehicle also carries a positioning device, for example, the position of the unmanned aerial vehicle can be determined by a navigation system.
For example, the user terminal may obtain the longitude and latitude of the unmanned aerial vehicle from the unmanned aerial vehicle, where the longitude and latitude of the unmanned aerial vehicle is determined by a positioning device carried by the unmanned aerial vehicle.
Illustratively, the user terminal periodically requests the unmanned aerial vehicle to acquire the flight position of the unmanned aerial vehicle. And the unmanned aerial vehicle sends the flight position to the user terminal according to the request of the user terminal. Or the unmanned aerial vehicle periodically acquires the flight position and sends the acquired flight position to the user terminal.
Illustratively, at a certain time, the terminal position of the user terminal is (x1, y1), and the flight position of the unmanned aerial vehicle is (x2, y 2).
S130, determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position.
In some embodiments, said determining a positioning distance from said terminal position and said flight position comprises: and determining the positioning distance according to the longitude and latitude of the user terminal and the longitude and latitude of the unmanned aerial vehicle.
Illustratively, the positioning distance represents a distance between the terminal position of the user terminal and the projection of the flight position of the unmanned aerial vehicle on the same horizontal plane.
For example, when the terminal position of the user terminal is (x1, y1) and the flight position of the unmanned aerial vehicle is (x2, y2), the positioning distance d may be expressed as:
s140, obtaining delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information.
Specifically, since the user uses the unmanned aerial vehicle, the unmanned aerial vehicle is located at a certain distance from the user terminal, and a certain time is required for the communication signal to be transmitted between the unmanned aerial vehicle and the user terminal, the signal transmission between the user terminal and the unmanned aerial vehicle is delayed.
Illustratively, the user terminal obtains a round trip delay of signal transmission between the unmanned aerial vehicle and the user terminal.
In some embodiments, the user terminal periodically transmits a terminal signal to the unmanned aerial vehicle, and the unmanned aerial vehicle transmits a feedback signal to the user terminal in response to the terminal signal transmitted by the user terminal. And the user terminal determines the delay information of signal transmission between the user terminal and the unmanned aerial vehicle according to the time difference between the sending terminal signal and the receiving feedback signal.
In some embodiments, the user terminal periodically requests the unmanned aerial vehicle to acquire the flight position of the unmanned aerial vehicle, and the unmanned aerial vehicle sends the flight position to the user terminal according to the request of the user terminal. And the user terminal determines the delay information of signal transmission between the unmanned aerial vehicle and the user terminal according to the time difference between the sending request and the receiving flight position.
In some embodiments, the user terminal may obtain delay information of signal transmission from the UAV.
Illustratively, the unmanned aerial vehicle periodically sends a flight end signal to the user terminal, and the user terminal sends a feedback signal to the user terminal in response to the flight end signal sent by the unmanned aerial vehicle. The unmanned aerial vehicle determines delay information of signal transmission between the unmanned aerial vehicle and the user terminal according to the time difference between the sending of the flight end signal and the receiving of the feedback signal, and then the unmanned aerial vehicle can send the delay information to the user terminal.
Illustratively, the delay of the signal transmission between the user terminal and the unmanned aerial vehicle includes the Time of the signal transmission from the user terminal to the unmanned aerial vehicle and the Time of the signal transmission from the unmanned aerial vehicle to the user terminal, and thus the delay information of the signal transmission between the user terminal and the unmanned aerial vehicle includes Round-Trip Time (RTT) of the signal transmission.
Illustratively, the user terminal determines a communication distance between the user terminal and the UAV according to the round trip delay.
Specifically, the communication distance between the user terminal and the unmanned aerial vehicle is determined according to the speed of electromagnetic signal transmission and the round trip delay.
For example, when the round trip delay is T, the communication distance D between the user terminal and the unmanned aerial vehicle may be represented as: d ═ c × T ÷ 2, where c denotes the speed of electromagnetic signal transmission.
For example, if the time of the user terminal and the unmanned aerial vehicle are synchronized, the maximum error of the round-trip distance between the user terminal and the unmanned aerial vehicle determined by the round-trip delay is the distance corresponding to 0.5 sampling points. For example, when the sampling frequency fs is 30Msps, the estimation error of the round trip distance is maximum: 0.5 xc/fs-5 meters, where c represents the speed of signal transmission, the maximum estimated error of the one-way distance between the user terminal and the unmanned aerial vehicle is 5/2-2.5 meters.
Illustratively, the maximum error of the communication distance between the user terminal and the unmanned aerial vehicle can be further reduced by increasing the sampling frequency, so that a more accurate communication distance is obtained.
In some embodiments, the obtaining delay information of signal transmission between the user terminal and the unmanned aerial vehicle includes: and determining the delay information according to a timestamp carried by the signal between the user terminal and the unmanned aerial vehicle and the time of receiving the signal.
For example, the flight position sent by the unmanned aerial vehicle to the user terminal is provided with a timestamp when the flight position is sent, the time when the flight position is sent by the unmanned aerial vehicle can be obtained when the flight position is received by the user terminal, the time when the flight position is received by the user terminal can be determined, so that the time when a signal is transmitted from the unmanned aerial vehicle to the user terminal can be obtained, and the communication distance between the user terminal and the unmanned aerial vehicle can be determined according to the transmission time.
Specifically, the communication distance between the user terminal and the unmanned aerial vehicle determined through time delay includes a distance error corresponding to the sampling point.
In some embodiments, the anti-hacking method further comprises: and adjusting the communication distance according to the distance error.
For example, the distance error may be determined based on a sampling frequency of signal transmission between the user terminal and the UAV. When the sampling frequency fs is 30Msps, the maximum estimation error of the one-way distance between the user terminal and the unmanned aerial vehicle, namely the distance error alpha is 5/2-2.5 meters. The communication distance may be adjusted according to the distance error to obtain an adjusted communication distance of D + α or D- α.
S150, judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance.
The communication distance is the relative distance between the user terminal and the unmanned aerial vehicle which is accurately calculated by detecting the time interval between the sending packet and the receiving packet, so that whether the terminal position of the user terminal and the flight position of the unmanned aerial vehicle are accurate or not can be verified according to the more accurate communication distance.
For example, the position range of the user terminal may be determined by taking the flight position of the unmanned aerial vehicle as a center of a circle and the communication distance between the unmanned aerial vehicle and the user terminal as a radius. If the terminal position of the user terminal is out of the range, it may be determined that at least one of the flight position and the terminal position is inaccurate.
For example, the position range of the unmanned aerial vehicle can be determined by taking the terminal position of the user terminal as a center of a circle and the communication distance between the unmanned aerial vehicle and the user terminal as a radius. If the flight position of the unmanned aerial vehicle is out of the range, it may be determined that at least one of the flight position and the terminal position is inaccurate.
Illustratively, the determining at least one of the flight position and the terminal position is inaccurate includes: determining that the flight position is inaccurate; or judging that the terminal position is inaccurate; or judging that the flight position and the terminal position are not accurate.
For example, if the terminal position of the user terminal can be determined to be reliable, it is determined that the flight position is inaccurate; and if the flight position of the unmanned aerial vehicle can be judged to be reliable, judging that the terminal position is inaccurate.
For example, if the distance difference between the communication distance and the positioning distance is not greater than a preset deviation threshold, it is determined that the flight position and the terminal position are accurate; and if the distance difference value between the communication distance and the positioning distance is greater than the deviation threshold value, determining that at least one of the flight position and the terminal position is inaccurate.
For example, the deviation threshold may be determined based on the altitude of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, and the like.
In some embodiments, the determining whether the flight position and the terminal position are accurate according to the positioning distance and the communication distance includes: determining a horizontal distance between the user terminal and the unmanned aerial vehicle according to the communication distance; and judging whether the flying position and the terminal position are accurate or not according to the distance difference between the horizontal distance and the positioning distance.
In some embodiments, the flying height of the unmanned aerial vehicle is high, for example, tens of meters or hundreds of meters, and it is necessary to determine whether the terminal position is accurate according to the horizontal distance corresponding to the communication distance. The horizontal distance between the user terminal and the unmanned aerial vehicle corresponding to the communication distance can be determined through the communication distance, for example.
For example, the user terminal obtains a flight altitude of the unmanned aerial vehicle relative to the user terminal, and determines a horizontal distance between the user terminal and the unmanned aerial vehicle according to the flight altitude and the communication distance.
In some embodiments, the method for controlling return flight of the unmanned aerial vehicle further includes: and acquiring the flight height of the unmanned aerial vehicle relative to the user terminal.
For example, the user terminal may obtain the altitude of the unmanned aerial vehicle relative to the ground or relative to the departure point in flight from the unmanned aerial vehicle, and determine the flight altitude of the unmanned aerial vehicle relative to the user terminal according to the altitude. The flight altitude of the unmanned aerial vehicle relative to the takeoff point is determined, for example, according to the altitude change of the unmanned aerial vehicle after takeoff from the takeoff point.
For example, the height of the unmanned aerial vehicle may change during the flight, for example, the user may control the unmanned aerial vehicle to adjust the flight height through the user terminal.
Illustratively, the user terminal periodically requests the unmanned aerial vehicle to acquire the flight altitude of the unmanned aerial vehicle. And the unmanned aerial vehicle sends the flight altitude to the user terminal according to the request of the user terminal. Or the unmanned aerial vehicle periodically acquires the flight altitude and sends the acquired flight altitude to the user terminal. Therefore, the user terminal can acquire the real-time height of the unmanned aerial vehicle and judge whether the position of the terminal is accurate or not according to the flight height of the unmanned aerial vehicle, the positioning distance and the communication distance.
For example, if the communication distance is D and the flight altitude of the unmanned aerial vehicle is h, the horizontal distance between the user terminal and the unmanned aerial vehicle is:
or
In some embodiments, the determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information in step S140 includes: and determining the horizontal distance between the user terminal and the unmanned aerial vehicle according to the delay information and the flight altitude. I.e. the horizontal distance is taken as the communication distance between the user terminal and the unmanned aerial vehicle.
For example, the determining whether the flight position and the terminal position are accurate according to the distance difference between the horizontal distance and the positioning distance includes: if the distance difference between the horizontal distance and the positioning distance is not larger than a preset difference threshold, judging that the flying position and the terminal position are accurate; and if the distance difference between the horizontal distance and the positioning distance is greater than the difference threshold, determining that at least one of the flight position and the terminal position is inaccurate.
Illustratively, if the preset difference threshold is denoted as e, e is 20 meters, for example; the distance difference between the horizontal distance and the positioning distance is the absolute value of the difference between the horizontal distance and the positioning distance. If the distance difference is not greater than e, judging that the flight position and the terminal position are accurate; and if the distance difference is larger than e, judging that at least one of the flying position and the terminal position is inaccurate.
For example, the difference threshold may be determined according to the flight speed of the unmanned aerial vehicle, a preset upper error limit, and the like.
For example, if the total time duration of the process of determining the flight position by the unmanned aerial vehicle, transmitting the flight position to the user terminal, and the like is t, for example, t is 50 milliseconds, and the upper limit of the relative speed between the user and the unmanned aerial vehicle is v, for example, v is 50 meters per second, then the difference threshold value may be determined as: e + v × t. It is possible to prevent the terminal position with a small deviation from being erroneously judged as an inaccurate position.
Illustratively, if there is
Or
Determining that at least one of the flight position and the terminal position is inaccurate; if there is
And is
The flight position and the terminal position are judged to be accurate.
In some embodiments, the range error may be taken into account in the difference threshold, so that the communication range may not be adjusted according to the range error.
Exemplary, the tamper-resistant method further comprises: and adjusting the difference threshold value according to a distance error, wherein the distance error is determined according to the sampling frequency of signal transmission between the user terminal and the unmanned aerial vehicle.
For example, the distance error may be determined based on a sampling frequency of signal transmission between the user terminal and the UAV. When the sampling frequency fs is 30Msps, the maximum estimation error of the one-way distance between the user terminal and the unmanned aerial vehicle, namely the distance error alpha is 5/2-2.5 meters. And adjusting the difference threshold value according to the distance error to obtain the adjusted difference threshold value of e + alpha.
For example, if there is
Determining that at least one of the flight position and the terminal position is inaccurate; if there is
The flight position and the terminal position are judged to be accurate.
And S160, if at least one of the flight position and the terminal position is not accurate, controlling the unmanned aerial vehicle to execute a preset action.
If at least one of the flight position and the terminal position is determined to be inaccurate, it can be determined that the positioning of at least one of the unmanned aerial vehicle and the user terminal is inaccurate and may be cracked or interfered, so that the unmanned aerial vehicle can be controlled to execute a preset action, for example, the user terminal controls the unmanned aerial vehicle to execute one of descent, return voyage and take-off prohibition.
In some implementation scenarios, the unmanned aerial vehicle flies away from the user from the departure point at a certain time, the distance between the unmanned aerial vehicle and the user terminal becomes longer and longer, and the communication distance determined according to the delay information of the signal transmission becomes more accurate, for example, when the distance increases from 0 to 2.5 meters, the communication distance cannot be accurately determined due to the existence of the distance error, and as the distance further increases, the influence of the distance error becomes smaller and smaller, and the communication distance becomes more accurate. And if at least one of the flight position and the terminal position is determined to be inaccurate according to the positioning distance and the communication distance at a certain moment, controlling the unmanned aerial vehicle to forcibly descend or return. So as to prevent the unmanned aerial vehicle from being controlled to fly in the flight limiting area by breaking the positioning device of the user terminal or the unmanned aerial vehicle.
Illustratively, if the terminal position of the user terminal is determined to be inaccurate at a certain moment, the unmanned aerial vehicle is controlled to descend forcibly. The height of the unmanned aerial vehicle relative to the ground can be determined through the binocular camera or the downward-looking camera in the descending process, the descending height can be determined according to the height, and the ground contact is prevented.
Illustratively, if the flight position of the unmanned aerial vehicle is determined to be inaccurate at a certain moment, or the flight position and the terminal position are determined to be inaccurate, controlling the unmanned aerial vehicle to return to the home, or controlling the unmanned aerial vehicle to prohibit taking off. For example, after at least one of the flight position and the terminal position of the unmanned aerial vehicle is determined to be inaccurate and the unmanned aerial vehicle is controlled to prohibit take-off, the state of prohibiting take-off can be released after a preset time period elapses, and then the user terminal can normally control the unmanned aerial vehicle.
Illustratively, in the process of judging at least one of the flight position and the terminal position of the unmanned aerial vehicle to be inaccurate, and controlling the return flight or the descent of the unmanned aerial vehicle, if the flight position and the terminal position are judged to be accurate at a certain moment according to the positioning distance and the communication distance, the user terminal can normally control the unmanned aerial vehicle.
In some embodiments, the anti-hacking method further comprises: and if at least one of the flight position and the terminal position is determined to be inaccurate, sending prompt information, wherein the prompt information is used for prompting a user that at least one of the unmanned aerial vehicle and the user terminal is inaccurate in positioning. For example, to prompt the user that the unmanned aerial vehicle cannot be properly controlled for flight.
In the method for preventing the unmanned aerial vehicle from being cracked provided by the embodiment of the specification, the positioning distance is determined according to the terminal position of the user terminal and the flight position of the unmanned aerial vehicle, and the communication distance between the user terminal and the unmanned aerial vehicle is determined according to the delay information of signal transmission between the user terminal and the unmanned aerial vehicle; and then judging whether the flight position and the terminal position are both accurate according to the communication distance with higher accuracy, and if at least one of the flight position and the terminal position is inaccurate, controlling the unmanned aerial vehicle to execute a preset action so as to prevent the unmanned aerial vehicle from flying in a flight limiting area by breaking the user terminal or a positioning device of the unmanned aerial vehicle.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating an anti-tamper method for an unmanned aerial vehicle according to another embodiment of the present application. The anti-cracking method can be applied to the unmanned aerial vehicle and is used for judging whether the flight position and the terminal position are accurate or not and controlling the unmanned aerial vehicle to execute the processes of preset actions and the like when the flight position and the terminal position are inaccurate.
The user terminal may include at least one of a mobile terminal, a remote control terminal, and a wearable device. The wearable device includes a mobile terminal such as a mobile phone, a tablet computer, a notebook computer, etc., a remote control terminal such as a remote controller of an unmanned aerial vehicle, etc., and a wearable device such as FPV (First Person View) glasses, VR (Virtual Reality) glasses, etc.
Unmanned vehicles can be, for example, rotary wing type drones, such as quad-rotor drones, hexa-rotor drones, eight-rotor drones, and also fixed wing drones.
As shown in fig. 3, the anti-crack method for the unmanned aerial vehicle of the present embodiment includes steps S210 to S260.
S210, acquiring the terminal position of the user terminal.
For example, the user terminal is equipped with a positioning device, and the position of the user terminal can be determined by a navigation system, for example.
For example, the unmanned aerial vehicle may obtain the longitude and latitude of the user terminal from the user terminal, where the longitude and latitude of the user terminal is determined by a positioning device mounted on the user terminal.
For example, the unmanned aerial vehicle periodically requests the user terminal to acquire the terminal position of the user terminal. And the user terminal sends the terminal position to the unmanned aerial vehicle according to the request of the unmanned aerial vehicle. Or the user terminal periodically acquires the terminal position and sends the acquired terminal position to the unmanned aerial vehicle.
And S220, acquiring the flight position of the unmanned aerial vehicle.
Illustratively, the unmanned aerial vehicle also carries a positioning device, for example, the position of the unmanned aerial vehicle can be determined by a navigation system.
For example, the unmanned aerial vehicle obtains the longitude and latitude of the unmanned aerial vehicle determined by a positioning device carried by the unmanned aerial vehicle.
Illustratively, the unmanned aerial vehicle periodically acquires the flight position.
Illustratively, at a certain time, the terminal position of the user terminal is (x1, y1), and the flight position of the unmanned aerial vehicle is (x2, y 2).
And S230, determining the positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position.
In some embodiments, said determining a positioning distance from said terminal position and said flight position comprises: and the unmanned aerial vehicle determines the positioning distance according to the longitude and latitude of the user terminal and the longitude and latitude of the unmanned aerial vehicle.
Illustratively, the positioning distance represents a distance between the terminal position of the user terminal and the projection of the flight position of the unmanned aerial vehicle on the same horizontal plane.
For example, when the terminal position of the user terminal is (x1, y1) and the flight position of the unmanned aerial vehicle is (x2, y2), the positioning distance d may be expressed as:
s240, obtaining delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information.
Specifically, since the user uses the unmanned aerial vehicle, the unmanned aerial vehicle is located at a certain distance from the user terminal, and a certain time is required for the communication signal to be transmitted between the unmanned aerial vehicle and the user terminal, the signal transmission between the user terminal and the unmanned aerial vehicle is delayed.
Illustratively, the unmanned aerial vehicle acquires a round trip delay of signal transmission between the unmanned aerial vehicle and the user terminal.
In some embodiments, the unmanned aerial vehicle periodically transmits a flight side signal to the user terminal, and the user terminal transmits a feedback signal to the unmanned aerial vehicle in response to the flight side signal transmitted by the unmanned aerial vehicle. And the unmanned aerial vehicle determines the delay information of signal transmission between the unmanned aerial vehicle and the user terminal according to the time difference between the sending of the flight end signal and the receiving of the feedback signal.
In some embodiments, the unmanned aerial vehicle periodically requests the user terminal to acquire the terminal position of the user terminal, and the user terminal sends the terminal position to the unmanned aerial vehicle according to the request of the unmanned aerial vehicle. And the unmanned aerial vehicle determines delay information of signal transmission between the unmanned aerial vehicle and the user terminal according to the time difference between the sending request and the position of the receiving terminal.
In some embodiments, the unmanned aerial vehicle may obtain delay information of signal transmission from the user terminal.
Illustratively, the user terminal periodically transmits a terminal signal to the unmanned aerial vehicle, and the unmanned aerial vehicle transmits a feedback signal to the unmanned aerial vehicle in response to the terminal signal transmitted by the user terminal. The user terminal determines delay information of signal transmission between the unmanned aerial vehicle and the user terminal according to the time difference between the sending terminal signal and the receiving feedback signal, and then the user terminal can send the delay information to the unmanned aerial vehicle.
Illustratively, the delay of the signal transmission between the user terminal and the unmanned aerial vehicle includes the Time of the signal transmission from the user terminal to the unmanned aerial vehicle and the Time of the signal transmission from the unmanned aerial vehicle to the user terminal, and thus the delay information of the signal transmission between the user terminal and the unmanned aerial vehicle includes Round-Trip Time (RTT) of the signal transmission.
Illustratively, an unmanned aerial vehicle determines a communication distance between the user terminal and the unmanned aerial vehicle based on the round trip delay.
Specifically, the communication distance between the user terminal and the unmanned aerial vehicle is determined according to the speed of electromagnetic signal transmission and the round trip delay.
For example, when the round trip delay is T, the communication distance D between the user terminal and the unmanned aerial vehicle may be represented as: d ═ c × T ÷ 2, where c denotes the speed of electromagnetic signal transmission.
For example, if the time of the user terminal and the unmanned aerial vehicle are synchronized, the maximum error of the round-trip distance between the user terminal and the unmanned aerial vehicle determined by the round-trip delay is the distance corresponding to 0.5 sampling points. For example, when the sampling frequency fs is 30Msps, the estimation error of the round trip distance is maximum: 0.5 xc/fs-5 meters, where c represents the speed of signal transmission, the maximum estimated error of the one-way distance between the user terminal and the unmanned aerial vehicle is 5/2-2.5 meters.
Illustratively, the maximum error of the communication distance between the user terminal and the unmanned aerial vehicle can be further reduced by increasing the sampling frequency, so that a more accurate communication distance is obtained.
In some embodiments, the obtaining delay information of signal transmission between the user terminal and the unmanned aerial vehicle includes: and determining the delay information according to a timestamp carried by the signal between the user terminal and the unmanned aerial vehicle and the time of receiving the signal.
For example, the terminal position sent by the user terminal to the unmanned aerial vehicle is provided with a timestamp when the terminal position is sent, the time when the terminal position is sent by the user terminal can be obtained when the unmanned aerial vehicle receives the terminal position, the time when the terminal position is received by the unmanned aerial vehicle can be determined, so that the time when a signal is transmitted from the user terminal to the unmanned aerial vehicle can be obtained, and the communication distance between the user terminal and the unmanned aerial vehicle can be determined according to the transmission time.
Specifically, the communication distance between the user terminal and the unmanned aerial vehicle determined through time delay includes a distance error corresponding to the sampling point.
In some embodiments, the anti-hacking method further comprises: and adjusting the communication distance according to the distance error.
For example, the distance error may be determined based on a sampling frequency of signal transmission between the user terminal and the UAV. When the sampling frequency fs is 30Msps, the maximum estimation error of the one-way distance between the user terminal and the unmanned aerial vehicle, namely the distance error alpha is 5/2-2.5 meters. The communication distance may be adjusted according to the distance error to obtain an adjusted communication distance of D + α or D- α.
And S250, judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance.
The communication distance is the relative distance between the user terminal and the unmanned aerial vehicle which is accurately calculated by detecting the time interval between the sending packet and the receiving packet, so that whether the terminal position of the user terminal and the flight position of the unmanned aerial vehicle are accurate or not can be verified according to the more accurate communication distance.
For example, the position range of the user terminal may be determined by taking the flight position of the unmanned aerial vehicle as a center of a circle and the communication distance between the unmanned aerial vehicle and the user terminal as a radius. If the terminal position of the user terminal is out of the range, it may be determined that at least one of the flight position and the terminal position is inaccurate.
For example, the position range of the unmanned aerial vehicle can be determined by taking the terminal position of the user terminal as a center of a circle and the communication distance between the unmanned aerial vehicle and the user terminal as a radius. If the flight position of the unmanned aerial vehicle is out of the range, it may be determined that at least one of the flight position and the terminal position is inaccurate.
Illustratively, the determining at least one of the flight position and the terminal position is inaccurate includes: determining that the flight position is inaccurate; or judging that the terminal position is inaccurate; or judging that the flight position and the terminal position are not accurate.
For example, if the terminal position of the user terminal can be determined to be reliable, it is determined that the flight position is inaccurate; and if the flight position of the unmanned aerial vehicle can be judged to be reliable, judging that the terminal position is inaccurate.
For example, if the distance difference between the communication distance and the positioning distance is not greater than a preset deviation threshold, it is determined that the flight position and the terminal position are accurate; and if the distance difference value between the communication distance and the positioning distance is greater than the deviation threshold value, determining that at least one of the flight position and the terminal position is inaccurate.
For example, the deviation threshold may be determined based on the altitude of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, and the like.
In some embodiments, the determining whether the flight position and the terminal position are accurate according to the positioning distance and the communication distance includes: determining a horizontal distance between the user terminal and the unmanned aerial vehicle according to the communication distance; and judging whether the flying position and the terminal position are accurate or not according to the distance difference between the horizontal distance and the positioning distance.
In some embodiments, the flying height of the unmanned aerial vehicle is high, for example, tens of meters or hundreds of meters, and it is necessary to determine whether the terminal position is accurate according to the horizontal distance corresponding to the communication distance. The horizontal distance between the user terminal and the unmanned aerial vehicle corresponding to the communication distance can be determined through the communication distance, for example.
For example, the user terminal obtains the flight altitude of the unmanned aerial vehicle relative to the user terminal from the unmanned aerial vehicle, and determines the horizontal distance between the user terminal and the unmanned aerial vehicle according to the flight altitude and the communication distance.
In some embodiments, the method for controlling return flight of the unmanned aerial vehicle further includes: and acquiring the flight height of the unmanned aerial vehicle relative to the user terminal.
For example, the height of the unmanned aerial vehicle relative to the ground or relative to a departure point in flight is periodically acquired by the unmanned aerial vehicle, and the flight height of the unmanned aerial vehicle relative to the user terminal is determined according to the height. Determining the flight altitude of the unmanned aerial vehicle relative to the departure point according to the altitude change of the unmanned aerial vehicle after the unmanned aerial vehicle departs from the departure point.
For example, the height of the unmanned aerial vehicle may change during the flight, for example, the user may control the unmanned aerial vehicle to adjust the flight height through the user terminal. The unmanned aerial vehicle periodically acquires the flight altitude, can acquire the real-time altitude of the unmanned aerial vehicle, and judges whether the terminal position is accurate according to the flight altitude of the unmanned aerial vehicle, the positioning distance and the communication distance.
For example, if the communication distance is D and the flight altitude of the unmanned aerial vehicle is h, the horizontal distance between the user terminal and the unmanned aerial vehicle is:
or
In some embodiments, the determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information in step S240 includes: and determining the horizontal distance between the user terminal and the unmanned aerial vehicle according to the delay information and the flight altitude. I.e. the horizontal distance is taken as the communication distance between the user terminal and the unmanned aerial vehicle.
For example, the determining whether the flight position and the terminal position are accurate according to the distance difference between the horizontal distance and the positioning distance includes: if the distance difference between the horizontal distance and the positioning distance is not larger than a preset difference threshold, judging that the flying position and the terminal position are accurate; and if the distance difference between the horizontal distance and the positioning distance is greater than the difference threshold, determining that at least one of the flight position and the terminal position is inaccurate.
Illustratively, if the preset difference threshold is denoted as e, e is 20 meters, for example; the distance difference between the horizontal distance and the positioning distance is the absolute value of the difference between the horizontal distance and the positioning distance. If the distance difference is not greater than e, judging that the flight position and the terminal position are accurate; and if the distance difference is larger than e, judging that at least one of the flying position and the terminal position is inaccurate.
For example, the difference threshold may be determined according to the flight speed of the unmanned aerial vehicle, a preset upper error limit, and the like.
For example, if the total time duration of the process of determining the flight position by the unmanned aerial vehicle, transmitting the flight position to the user terminal, and the like is t, for example, t is 50 milliseconds, and the upper limit of the relative speed between the user and the unmanned aerial vehicle is v, for example, v is 50 meters per second, then the difference threshold value may be determined as: e + v × t. It is possible to prevent the terminal position with a small deviation from being erroneously judged as an inaccurate position.
Illustratively, if there is
Or
Determining that at least one of the flight position and the terminal position is inaccurate; if there is
And is
The flight position and the terminal position are judged to be accurate.
In some embodiments, the range error may be taken into account in the difference threshold, so that the communication range may not be adjusted according to the range error.
Exemplary, the tamper-resistant method further comprises: and adjusting the difference threshold value according to a distance error, wherein the distance error is determined according to the sampling frequency of signal transmission between the user terminal and the unmanned aerial vehicle.
For example, the distance error may be determined based on a sampling frequency of signal transmission between the user terminal and the UAV. When the sampling frequency fs is 30Msps, the maximum estimation error of the one-way distance between the user terminal and the unmanned aerial vehicle, namely the distance error alpha is 5/2-2.5 meters. And adjusting the difference threshold value according to the distance error to obtain the adjusted difference threshold value of e + alpha.
For example, if there is
Determining that at least one of the flight position and the terminal position is inaccurate; if there is
The flight position and the terminal position are judged to be accurate.
And S260, if at least one of the flight position and the terminal position is not accurate, executing a preset action.
If at least one of the flight position and the terminal position is determined to be inaccurate, it can be determined that the positioning of at least one of the unmanned aerial vehicle and the user terminal is inaccurate and may be cracked or interfered, so that the unmanned aerial vehicle executes a preset action, such as one of descent, return voyage or take-off prohibition.
In some implementation scenarios, the unmanned aerial vehicle flies away from the user from the departure point at a certain time, the distance between the unmanned aerial vehicle and the user terminal becomes longer and longer, and the communication distance determined according to the delay information of the signal transmission becomes more accurate, for example, when the distance increases from 0 to 2.5 meters, the communication distance cannot be accurately determined due to the existence of the distance error, and as the distance further increases, the influence of the distance error becomes smaller and smaller, and the communication distance becomes more accurate. And if at least one of the flight position and the terminal position is determined to be inaccurate according to the positioning distance and the communication distance at a certain moment, the unmanned aerial vehicle is forced to descend or return. So as to prevent the unmanned aerial vehicle from being controlled to fly in the flight limiting area by breaking the positioning device of the user terminal or the unmanned aerial vehicle.
For example, if it is determined at a certain time that the terminal position of the user terminal is inaccurate, the unmanned aerial vehicle is forcibly lowered. The height of the unmanned aerial vehicle relative to the ground can be determined through the binocular camera or the downward-looking camera in the descending process, the descending height can be determined according to the height, and the ground contact is prevented.
Illustratively, if the flight position of the unmanned aerial vehicle is determined to be inaccurate at a certain moment, or the flight position and the terminal position are determined to be inaccurate, the unmanned aerial vehicle navigates back, or the unmanned aerial vehicle is prohibited from taking off. For example, after at least one of the flight position and the terminal position of the unmanned aerial vehicle is determined to be inaccurate, and the unmanned aerial vehicle is prohibited from taking off, the state of prohibition of taking off can be released after a preset time period, and then the user terminal can normally control the unmanned aerial vehicle.
Illustratively, in the process of judging at least one of the flight position and the terminal position of the unmanned aerial vehicle to be inaccurate, and controlling the return flight or the descent of the unmanned aerial vehicle, if the flight position and the terminal position are judged to be accurate at a certain moment according to the positioning distance and the communication distance, the user terminal can normally control the unmanned aerial vehicle.
In some embodiments, the anti-hacking method further comprises: and if at least one of the flight position and the terminal position is determined to be inaccurate, the unmanned aerial vehicle sends an error notification to the user terminal, so that the user terminal prompts a user that at least one of the unmanned aerial vehicle and the user terminal is inaccurate in positioning according to the error notification. For example, to prompt the user that the unmanned aerial vehicle cannot be properly controlled for flight.
In the method for preventing the unmanned aerial vehicle from being cracked provided by the embodiment of the specification, the positioning distance is determined according to the terminal position of the user terminal and the flight position of the unmanned aerial vehicle, and the communication distance between the user terminal and the unmanned aerial vehicle is determined according to the delay information of signal transmission between the user terminal and the unmanned aerial vehicle; and then judging whether the flight position and the terminal position are both accurate according to the communication distance with higher accuracy, and if at least one of the flight position and the terminal position is inaccurate, executing a preset action by the unmanned aerial vehicle so as to prevent the unmanned aerial vehicle from being controlled to fly in a flight limiting area by breaking a user terminal or a positioning device of the unmanned aerial vehicle.
Referring to fig. 4 in conjunction with the above embodiment, fig. 4 is a schematic block diagram of a user terminal 600 according to an embodiment of the present disclosure. The user terminal 600 comprises a processor 601 and a memory 602.
Illustratively, the processor 601 and the memory 602 are coupled by a bus 603, such as an I2C (Inter-integrated Circuit) bus.
Specifically, the Processor 601 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 602 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
The processor 601 is configured to run a computer program stored in the memory 602, and when executing the computer program, implement the anti-hacking method for the unmanned aerial vehicle of the user terminal.
Illustratively, the processor 601 is configured to run a computer program stored in the memory 602 and to implement the following steps when executing the computer program:
acquiring the terminal position of the user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, controlling the unmanned aerial vehicle to execute a preset action.
The specific principle and implementation manner of the user terminal provided in the embodiment of this specification are similar to those of the anti-disruption method for the unmanned aerial vehicle of the user terminal in the foregoing embodiment, and are not described herein again.
In an embodiment of the present specification, a computer-readable storage medium is further provided, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the method for preventing a user terminal from being cracked for an unmanned aerial vehicle provided in the foregoing embodiment.
The computer-readable storage medium may be an internal storage unit of the user terminal according to any of the foregoing embodiments, for example, a hard disk or a memory of the user terminal. The computer readable storage medium may also be an external storage device of the user terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the user terminal.
Referring to fig. 5 in conjunction with the above embodiments, fig. 5 is a schematic block diagram of an unmanned aerial vehicle 700 provided in an embodiment of the present disclosure. The unmanned aerial vehicle 700 includes a processor 701 and a memory 702.
Illustratively, the processor 701 and the memory 702 are connected by a bus 703, such as an I2C (Inter-integrated Circuit) bus.
Specifically, the Processor 701 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 702 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
The processor 701 is configured to run a computer program stored in the memory 702, and when executing the computer program, implement the anti-tamper method for the unmanned aerial vehicle.
Illustratively, the processor 701 is configured to run a computer program stored in the memory 702 and to implement the following steps when executing the computer program:
acquiring a terminal position of a user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, executing a preset action.
The specific principle and implementation manner of the unmanned aerial vehicle provided in the embodiment of the present specification are similar to those of the anti-tamper method for the unmanned aerial vehicle in the foregoing embodiment, and are not described herein again.
In an embodiment of the present specification, a computer-readable storage medium is further provided, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the anti-tamper method for an unmanned aerial vehicle provided in the foregoing embodiment.
The computer readable storage medium may be an internal storage unit of the unmanned aerial vehicle according to any of the foregoing embodiments, for example, a hard disk or a memory of the unmanned aerial vehicle. The computer readable storage medium may also be an external storage device of the UAV, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the UAV.
In the user terminal, the unmanned aerial vehicle, and the computer-readable storage medium provided in the above embodiments of the present specification, a positioning distance is determined by a terminal position of the user terminal and a flight position of the unmanned aerial vehicle, and a communication distance between the user terminal and the unmanned aerial vehicle is determined according to delay information of signal transmission between the user terminal and the unmanned aerial vehicle; and then judging whether the flight position and the terminal position are both accurate according to the communication distance with higher accuracy, and if at least one of the flight position and the terminal position is inaccurate, executing a preset action by the unmanned aerial vehicle so as to prevent the unmanned aerial vehicle from being controlled to fly in a flight limiting area by breaking a user terminal or a positioning device of the unmanned aerial vehicle.
It is to be understood that the terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present disclosure, and these modifications or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present specification shall be subject to the protection scope of the claims.
Claims (33)
1. An anti-cracking method of an unmanned aerial vehicle, which is used for a user terminal, and is characterized by comprising the following steps:
acquiring the terminal position of the user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, controlling the unmanned aerial vehicle to execute a preset action.
2. The method of claim 1, wherein the obtaining the terminal location of the ue comprises:
and acquiring the longitude and latitude of the user terminal determined by a positioning device carried by the user terminal.
3. The method of claim 2, wherein the obtaining the flight position of the unmanned aerial vehicle comprises:
and acquiring the longitude and latitude of the unmanned aerial vehicle from the unmanned aerial vehicle, wherein the longitude and latitude of the unmanned aerial vehicle is determined by a positioning device carried by the unmanned aerial vehicle.
4. The method of claim 3, wherein determining a positioning distance based on the terminal position and the flight position comprises:
and determining the positioning distance according to the longitude and latitude of the user terminal and the longitude and latitude of the unmanned aerial vehicle.
5. The method according to claim 1, wherein the obtaining delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and the determining the communication distance between the user terminal and the unmanned aerial vehicle according to the delay information comprises:
and acquiring the round trip delay of signal transmission between the user terminal and the unmanned aerial vehicle, and determining the communication distance between the user terminal and the unmanned aerial vehicle according to the round trip delay.
6. The method of claim 1, wherein the determining whether the flight position and the terminal position are accurate according to the positioning distance and the communication distance comprises:
determining a horizontal distance between the user terminal and the unmanned aerial vehicle according to the communication distance;
and judging whether the flying position and the terminal position are accurate or not according to the distance difference between the horizontal distance and the positioning distance.
7. The method of claim 6, wherein determining the horizontal distance between the user terminal and the UAV based on the communication distance comprises:
and acquiring the flight altitude of the unmanned aerial vehicle relative to the user terminal, and determining the horizontal distance between the user terminal and the unmanned aerial vehicle according to the flight altitude and the communication distance.
8. The method of claim 6, wherein the determining whether the flight position and the terminal position are accurate according to the distance difference between the horizontal distance and the positioning distance comprises:
if the distance difference between the horizontal distance and the positioning distance is not larger than a preset difference threshold, judging that the flying position and the terminal position are accurate;
and if the distance difference between the horizontal distance and the positioning distance is greater than the difference threshold, determining that at least one of the flight position and the terminal position is inaccurate.
9. The method of claim 8, further comprising:
and adjusting the difference threshold value according to the distance error.
10. The method of claim 9, further comprising:
and determining the distance error according to the sampling frequency of signal transmission between the user terminal and the unmanned aerial vehicle.
11. The method of claim 1, further comprising:
acquiring the flight height of the unmanned aerial vehicle relative to the user terminal;
the determining the communication distance between the user terminal and the unmanned aerial vehicle according to the delay information comprises:
and determining the horizontal distance between the user terminal and the unmanned aerial vehicle according to the delay information and the flight altitude.
12. The method of claim 1, further comprising:
and if at least one of the flight position and the terminal position is determined to be inaccurate, sending prompt information, wherein the prompt information is used for prompting a user that at least one of the unmanned aerial vehicle and the user terminal is inaccurate in positioning.
13. The method of claim 1, wherein the user terminal comprises at least one of a mobile terminal, a remote control terminal, and a wearable device.
14. The method of claim 1, wherein the controlling the UAV to perform a preset action comprises:
controlling the UAV to perform one of descent, return voyage, or no takeoff.
15. The method of claim 1, wherein the determining that at least one of the flight position and the terminal position is inaccurate comprises:
determining that the flight position is inaccurate; or
Judging that the position of the terminal is inaccurate; or
And judging that the flight position and the terminal position are inaccurate.
16. An anti-fragmentation method for an unmanned aerial vehicle, the method comprising:
acquiring a terminal position of a user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, executing a preset action.
17. The method of claim 16, wherein the obtaining the terminal location of the ue comprises:
and acquiring the longitude and latitude of the user terminal from the user terminal, wherein the longitude and latitude of the user terminal is determined by a positioning device carried by the user terminal.
18. The method of claim 17, wherein the obtaining the flight position of the unmanned aerial vehicle comprises:
and acquiring the longitude and latitude of the unmanned aerial vehicle determined by a positioning device carried by the unmanned aerial vehicle.
19. The method of claim 18, wherein determining a positioning distance based on the terminal position and the flight position comprises:
and determining the positioning distance according to the longitude and latitude of the user terminal and the longitude and latitude of the unmanned aerial vehicle.
20. The method of claim 16, wherein the obtaining delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining the communication distance between the user terminal and the unmanned aerial vehicle according to the delay information comprises:
and acquiring the round trip delay of signal transmission between the user terminal and the unmanned aerial vehicle, and determining the communication distance between the user terminal and the unmanned aerial vehicle according to the round trip delay.
21. The method of claim 16, wherein the determining whether the flight position and the terminal position are accurate according to the positioning distance and the communication distance comprises:
determining a horizontal distance between the user terminal and the unmanned aerial vehicle according to the communication distance;
and judging whether the flying position and the terminal position are accurate or not according to the distance difference between the horizontal distance and the positioning distance.
22. The method of claim 21, wherein determining the horizontal distance between the user terminal and the UAV based on the communication distance comprises:
and acquiring the flight altitude of the unmanned aerial vehicle relative to the user terminal, and determining the horizontal distance between the user terminal and the unmanned aerial vehicle according to the flight altitude and the communication distance.
23. The method of claim 21, wherein the determining whether the flight position and the terminal position are accurate according to the distance difference between the horizontal distance and the positioning distance comprises:
if the distance difference between the horizontal distance and the positioning distance is not larger than a preset difference threshold, judging that the flying position and the terminal position are accurate;
and if the distance difference between the horizontal distance and the positioning distance is greater than the difference threshold, determining that at least one of the flight position and the terminal position is inaccurate.
24. The method of claim 23, further comprising:
and adjusting the difference threshold value according to the distance error.
25. The method of claim 24, further comprising:
and determining the distance error according to the sampling frequency of signal transmission between the user terminal and the unmanned aerial vehicle.
26. The method of claim 16, further comprising:
acquiring the flight height of the unmanned aerial vehicle relative to the user terminal;
the determining the communication distance between the user terminal and the unmanned aerial vehicle according to the delay information comprises:
and determining the horizontal distance between the user terminal and the unmanned aerial vehicle according to the delay information and the flight altitude.
27. The method of claim 16, further comprising:
and if at least one of the flight position and the terminal position is determined to be inaccurate, sending an error notification to the user terminal, so that the user terminal prompts a user that at least one of the unmanned aerial vehicle and the user terminal is inaccurate in positioning according to the error notification.
28. The method of claim 16, wherein the user terminal comprises at least one of a mobile terminal, a remote control terminal, and a wearable device.
29. The method of claim 16, wherein the performing a predetermined action comprises:
performing one of descent, return journey, or no take-off.
30. The method of claim 16, wherein the determining that at least one of the flight position and the terminal position is inaccurate comprises:
determining that the flight position is inaccurate; or
Judging that the position of the terminal is inaccurate; or
And judging that the flight position and the terminal position are inaccurate.
31. A user terminal comprising a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, to implement:
acquiring the terminal position of the user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, controlling the unmanned aerial vehicle to execute a preset action.
32. An unmanned aerial vehicle comprising a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, to implement:
acquiring a terminal position of a user terminal;
acquiring the flight position of the unmanned aerial vehicle;
determining a positioning distance between the user terminal and the unmanned aerial vehicle according to the terminal position and the flight position;
acquiring delay information of signal transmission between the user terminal and the unmanned aerial vehicle, and determining a communication distance between the user terminal and the unmanned aerial vehicle according to the delay information;
judging whether the flight position and the terminal position are accurate or not according to the positioning distance and the communication distance;
and if at least one of the flight position and the terminal position is determined to be inaccurate, executing a preset action.
33. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement:
the method of any one of claims 1-30.
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| PCT/CN2019/112614 WO2021077307A1 (en) | 2019-10-22 | 2019-10-22 | Cracking prevention method for unmanned aerial vehicle, user terminal, and unmanned aerial vehicle |
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