CN112655031A - Flight data processing method and device, recorder, unmanned aerial vehicle and storage medium - Google Patents

Flight data processing method and device, recorder, unmanned aerial vehicle and storage medium Download PDF

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CN112655031A
CN112655031A CN202080004956.2A CN202080004956A CN112655031A CN 112655031 A CN112655031 A CN 112655031A CN 202080004956 A CN202080004956 A CN 202080004956A CN 112655031 A CN112655031 A CN 112655031A
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flight data
file
flight
unmanned aerial
aerial vehicle
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解德鹏
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • G07C5/0858—Registering performance data using electronic data carriers wherein the data carrier is removable
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/16—File or folder operations, e.g. details of user interfaces specifically adapted to file systems
    • G06F16/162—Delete operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/17—Details of further file system functions
    • G06F16/172—Caching, prefetching or hoarding of files
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/17—Details of further file system functions
    • G06F16/1734—Details of monitoring file system events, e.g. by the use of hooks, filter drivers, logs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/602—Providing cryptographic facilities or services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
    • H04L9/0891—Revocation or update of secret information, e.g. encryption key update or rekeying

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Abstract

A flight data processing method, a flight data processing device, a recorder, a unmanned aerial vehicle and a storage medium are provided, wherein the method comprises the following steps: after the unmanned aerial vehicle is powered on, updating an encryption scheme (101), acquiring flight data (102) of the unmanned aerial vehicle in the flight process, encrypting the acquired flight data (103) according to the updated encryption scheme, and storing the encrypted flight data in a memory card of the unmanned aerial vehicle (104). The flight data processing method, the flight data processing device, the recorder, the unmanned aerial vehicle and the storage medium can effectively improve the safety of the storage card recorded with the encrypted flight data and guarantee the safety of user data.

Description

Flight data processing method and device, recorder, unmanned aerial vehicle and storage medium
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a flight data processing method, a flight data processing device, a flight data recorder, an unmanned aerial vehicle and a storage medium.
Background
In the prior art, the unmanned aerial vehicle can be applied to the fields of consumption, industry, agriculture, education, security and the like. Although most drones are safe and reliable, there are still situations where there is operational error or where the drone is blown or dropped due to uncontrollable factors. After unmanned aerial vehicle explodes or falls, be difficult to in time learn the reason of exploding or falling, can't satisfy unmanned aerial vehicle's development optimization demand and the requirement of criticizing of unmanned aerial vehicle damage.
In order to be able to timely acquire the crash reason after the crash of the unmanned aerial vehicle, a storage card can be arranged in the unmanned aerial vehicle, and the storage card stores flight data. After unmanned aerial vehicle crashes, can obtain flight data through reading the storage card to confirm unmanned aerial vehicle crash reason, provide the basis for the development optimization of accident fixed responsibility and unmanned aerial vehicle.
However, the flying data is stored in the memory card, and there is a risk that the stored data leaks out due to the memory card being acquired by an illegal person, and the security of data storage cannot be ensured.
Disclosure of Invention
The embodiment of the invention provides a flight data processing method and device, a recorder, an unmanned aerial vehicle and a storage medium, which are used for solving the technical problem of improving the safety of a storage card recorded with encrypted flight data.
The first aspect of the embodiments of the present invention provides a flight data processing method for an unmanned aerial vehicle, including:
after the unmanned aerial vehicle is powered on, updating an encryption scheme;
acquiring flight data of the unmanned aerial vehicle in the flight process;
encrypting the acquired flight data according to the updated encryption scheme;
and storing the encrypted flight data into a storage card of the unmanned aerial vehicle.
A second aspect of an embodiment of the present invention provides a flight data processing apparatus, including:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
after the unmanned aerial vehicle is powered on, updating an encryption scheme;
acquiring flight data of the unmanned aerial vehicle in the flight process;
encrypting the acquired flight data according to the updated encryption scheme;
and storing the encrypted flight data into a storage card of the unmanned aerial vehicle.
A third aspect of the embodiments of the present invention provides a flight recorder, including the flight data processing apparatus and the memory card of the second aspect.
A fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including the flight recorder of the third aspect.
A fifth aspect of the embodiments of the present invention provides a computer-readable storage medium, where program instructions are stored, where the program instructions are used to implement the flight data processing method according to the first aspect.
The flight data processing method and device, the recorder, the unmanned aerial vehicle and the storage medium provided by the embodiment of the invention can effectively improve the safety of the storage card recorded with the encrypted flight data and ensure the safety of user data.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a principle of data encryption in a flight data processing method of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a fourth embodiment of the present invention;
fig. 6 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a fifth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a flight data processing apparatus according to a sixth embodiment of the present invention;
fig. 8 is a schematic structural diagram of a flight recorder according to a seventh embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example one
The embodiment of the invention provides a flight data processing method of an unmanned aerial vehicle. Fig. 1 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, the flight data processing method in this embodiment may include:
step 101, after the unmanned aerial vehicle is powered on, updating an encryption scheme.
The method in this embodiment may be applied to an unmanned aerial vehicle, and an execution main body of the method may specifically be a flight data processing device in the unmanned aerial vehicle, and the flight data processing device may be any device having a data processing function, such as a Microcontroller Unit (MCU).
In this embodiment, the encryption scheme may be updated at least once after the drone is powered on each time. In one embodiment, after the drone is powered on, the server updates the encryption scheme and sends the updated encryption scheme to the drone. The security of the data can be improved by updating the encryption scheme through the server. In another embodiment, the encryption scheme may be updated by the drone itself after the drone is powered up. Because unmanned aerial vehicle need not rely on the encryption scheme that the server provided to update the operation, consequently, when unmanned aerial vehicle and server can't communicate, unmanned aerial vehicle also can generate the device through self encryption scheme and update the encryption scheme. In another embodiment, after the unmanned aerial vehicle is powered on, whether the unmanned aerial vehicle can normally communicate with the server is judged. If the drone is able to communicate with the server, an update encryption scheme request is sent to the server to obtain an updated encryption scheme. And if the unmanned aerial vehicle cannot communicate with the server, indicating an encryption scheme generation device positioned inside the unmanned aerial vehicle to update the encryption scheme. And when the unmanned aerial vehicle and the server resume communication, sending a message to the server to indicate the time when the server unmanned aerial vehicle utilizes the encryption scheme generation device inside the unmanned aerial vehicle to encrypt and the size of the encrypted data. If the unmanned aerial vehicle explodes or falls, the technical personnel can decrypt the storage card through the information provided by the server after obtaining the storage card in which the encrypted data of the unmanned aerial vehicle is stored.
Optionally, the encryption scheme may include at least one of: encryption type, encryption key, data length per encryption, and encryption algorithm.
The encryption type may be used to indicate which encryption method is selected to encrypt data, and the encryption type may include, but is not limited to: advanced Encryption Standard (AES), Data Encryption Standard (DES), Triple Data Encryption Algorithm (TDEA), and the like.
Each encryption type has its corresponding algorithm, and as long as the encryption key is known, the corresponding algorithm can be used to encrypt data according to the encryption key. In one embodiment, one encryption type corresponds to a plurality of encryption algorithms. In another embodiment, one encryption type corresponds to only one encryption algorithm.
Fig. 2 is a schematic diagram illustrating a principle of data encryption in a flight data processing method of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 2, the selected encryption type is AES encryption, plaintext is data to be encrypted, the encryption key and the plaintext are input into an AES encryption algorithm, and a corresponding ciphertext, that is, encrypted data, can be obtained by the AES encryption algorithm.
When the encryption operation is performed, the data to be encrypted may be encrypted in blocks, for example, 1024 bytes of data are encrypted each time, specifically, the encryption operation may be performed each time 1024 bytes of data are acquired, so as to ensure real-time performance of data encryption.
When updating the encryption scheme, only one of the secret type, the encryption key, and the data length of each encryption may be updated, or any two or three of them may be updated.
And 102, acquiring flight data of the unmanned aerial vehicle in the flight process.
The flight data may include any one or more of various data acquired or generated by the drone during flight.
Optionally, the flight data may include at least one of: the system comprises sensing data acquired by a sensor of the unmanned aerial vehicle, control data used for controlling the unmanned aerial vehicle and log data generated by a processor of the unmanned aerial vehicle, wherein the control data is sent by a server or user equipment.
Specifically, the unmanned aerial vehicle may be provided with a sensor, the sensor is used for collecting sensing data, and the sensor may include but is not limited to: one or more of a height sensor, a temperature sensor, an infrared sensor, a position sensor, and a wind speed sensor, and accordingly, the sensing data may include, but is not limited to: one or more of altitude information, temperature information, infrared information, position information, and wind speed information.
The flight process of the drone may be controlled by a server or a user device, and the control data sent by the server or the user device to the drone may include, but is not limited to: the command of controlling the unmanned aerial vehicle to take off, the command of controlling the unmanned aerial vehicle to land, the command of controlling the unmanned aerial vehicle to change the speed, and the command of controlling the unmanned aerial vehicle to change the direction.
In addition, the processor of the unmanned aerial vehicle can generate log data in the process of processing various information, and the flight data to be encrypted can also comprise the log data.
And 103, encrypting the acquired flight data according to the updated encryption scheme.
Specific encryption process referring to fig. 2, a certain length of flight data is encrypted according to an encryption key using a selected encryption type.
In other optional embodiments, the length of data encrypted each time may also be not fixed, data of any length may be encrypted each time, and a mark is added to the head or the tail of the encrypted data, so as to facilitate knowing how long data should be decrypted in decryption.
And step 104, storing the encrypted flight data into a memory card of the unmanned aerial vehicle.
Wherein the memory card may include at least one of: secure Digital Card (SD Card), Micro Secure Digital Card (Micro-SD Card), Compact Flash (CF Card), Smart Card (Smart Media, SM Card), Extreme Digital (XD) image Card, and sony Memory Stick (MS Card).
Optionally, the memory card may be disposed in a secure location of the drone. Specifically, the memory card may be located at a center of gravity of the drone. The focus position is the safest position of unmanned aerial vehicle, and after unmanned aerial vehicle crashed, the focus position receives destruction at least, even the outside hard power of unmanned aerial vehicle falls, also can prevent well that the memory card from damaging to guarantee the security of flight data.
The flight data processing method provided by the embodiment is characterized in that after the unmanned aerial vehicle is powered on, the encryption scheme is updated to obtain flight data in the flight process of the unmanned aerial vehicle, according to the updated encryption scheme, the obtained flight data are encrypted, the encrypted flight data are stored in the storage card of the unmanned aerial vehicle, after the unmanned aerial vehicle crashes, the flight data before the crash are read from the storage card, specific accident reasons are analyzed, the basis is provided for subsequent optimization and responsibility determination, the requirement for development optimization of the unmanned aerial vehicle and the requirement for responsibility determination of the crash of the unmanned aerial vehicle are met, the encryption scheme is updated after the unmanned aerial vehicle is powered on at every time, the safety of the flight data can be effectively improved, and the safety of user data is guaranteed.
Example two
The second embodiment of the invention provides a flight data processing method of an unmanned aerial vehicle. The embodiment provides a specific implementation method for updating the encryption key on the basis of the technical scheme provided by the embodiment.
Fig. 3 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a second embodiment of the present invention. As shown in fig. 3, the flight data processing method in this embodiment may include:
step 301, after power up, determining basic information for generating a key, where the basic information includes at least one of the following: serial number, number of racks, random number of unmanned aerial vehicle.
The Serial Number (SN) of the unmanned aerial vehicle is identification information of the unmanned aerial vehicle, and different unmanned aerial vehicles correspond to different Serial numbers. In the basic information, the serial number of the unmanned aerial vehicle may be unchangeable, and the number of the unmanned aerial vehicle and the random number may be updated after each power-on. The number of times of setting up is used for expressing the number of times that unmanned aerial vehicle flies, and in this embodiment, unmanned aerial vehicle is once the process between supplying power and supplying power down can be marked as a flight process, and unmanned aerial vehicle is after the electricity was supplied power at every turn, and the number of times of setting up can add one.
Optionally, the rack number may be stored in a memory card of the drone. After the unmanned aerial vehicle is powered on, before the encryption scheme is updated, the shelf number can be read from the memory card, a new shelf number is formed by adding one to the shelf number, and the shelf number in the memory card is updated to the new shelf number.
Before reading the shelf number from the memory card, whether the memory card is mounted (mount) successfully can be detected; and if the memory card is not mounted successfully, the operation of mounting the memory card is executed. The communication operation between the storage card and the storage card can be quickly and stably realized by executing the mounting operation, and the subsequent data writing and reading processes are ensured to be smoothly carried out.
Specifically, a service program can be loaded in the flight data processing device, after the unmanned aerial vehicle is started, the service program is also started together, after the service program is started, whether the memory card is mounted on an operating system of the flight data processing device is checked, and if the memory card is not mounted on the operating system, the memory card needs to be mounted on the system. If the unmanned aerial vehicle is mounted, the number of the unmanned aerial vehicle can be searched from the memory card, and the number of the unmanned aerial vehicle plus 1 and a new number of the unmanned aerial vehicle can be used for generating a key corresponding to the flight process.
And 302, acquiring a key generation algorithm, and generating a key according to the basic information by using the key generation algorithm.
The key generation algorithm can be set according to actual needs, and a simple example is that the key generation algorithm can be: and calculating the weighted sum of the serial number, the rack number and the random number of the unmanned aerial vehicle as a secret key.
Alternatively, the key generation algorithm may be stored in a secure area of the flight data processing device of the drone. The obtaining key generation algorithm may include: a key generation algorithm is obtained from the secure area. By storing the key generation algorithm in the secure area, the security of the key generation algorithm can be improved, thereby protecting the encrypted data.
In addition, the key generation algorithm can be stored in the background server, and the background server can calculate the corresponding key according to the basic information corresponding to the flight, so that the decryption of the data in the memory card is realized.
The backend server may obtain the basic information in a variety of ways, for example, the drone may store the basic information in the memory card, or the drone may send the basic information to the backend server. Since the key generation algorithm is secret, others cannot determine the corresponding key even if the basic information is disclosed, so that the security of the key can be guaranteed.
In this embodiment, through step 301 and step 302, the encrypted key can be updated after the drone is powered on. It is to be understood that, in addition to updating the key, the encryption type, the data length per encryption, and the like may also be updated.
And 303, acquiring flight data of the unmanned aerial vehicle in the flight process.
And step 304, encrypting the acquired flight data according to the updated encryption scheme.
And 305, storing the encrypted flight data into a memory card of the unmanned aerial vehicle.
In the scheme provided by this embodiment, the encryption key changes after each power-on, and the encryption type may or may not change. Optionally, during encryption, a fixed encryption type such as AES encryption may be used, and the acquired flight data is encrypted according to the updated key. The AES encryption speed is very fast, and the overhead occupation of the system is small. Of course, an encryption type can be randomly selected or sequentially selected for encryption after each power-on, so that the decryption difficulty is improved, and the data storage safety is improved.
In the case where one encryption type corresponds to a plurality of encryption algorithms, when the encryption type is determined, one encryption algorithm may be randomly selected or sequentially selected from among the encryption algorithms corresponding to the encryption type. Because the encryption algorithm is updated every time the power is on, the decryption difficulty and the data storage safety are further improved.
In another optional implementation manner, during encryption, an encryption type sent by the server or the user equipment may be acquired, and/or an encryption algorithm sent by the server or the user equipment may be acquired, and the acquired flight data is encrypted according to the updated key by using the encryption type and/or the encryption algorithm. The encryption type and/or encryption algorithm sent by the server or the user equipment may be obtained after the power-on of this time, or may be obtained and stored in the past. By allowing the server or the user equipment to send the encryption type and/or the encryption algorithm to the unmanned aerial vehicle, the encryption requirement of a background or a user can be met, and the flexibility of data encryption is improved.
According to the flight data processing method provided by the embodiment, the basic information used for generating the key is updated after power is supplied, the key is generated according to the updated basic information by using the key generation algorithm, the key can be automatically updated once when the power is supplied each time, different keys corresponding to different unmanned aerial vehicles and different keys corresponding to different flight processes can be realized, and the safety of stored flight data is improved.
EXAMPLE III
The third embodiment of the invention provides a flight data processing method of an unmanned aerial vehicle. The embodiment provides a specific implementation method of block encryption storage on the basis of the technical scheme provided by the embodiment.
Fig. 4 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a third embodiment of the present invention. As shown in fig. 4, the flight data processing method in this embodiment may include:
step 401, after the unmanned aerial vehicle is powered on, updating the encryption scheme.
And 402, acquiring flight data of the unmanned aerial vehicle in the flight process.
In this embodiment, the specific implementation principle and process of step 401 to step 402 may refer to the above embodiments, which are not described herein again.
Step 403, if the length of the flight data which is not encrypted in the currently acquired flight data reaches or exceeds the preset length, selecting the flight data with the preset length from the flight data, and encrypting the flight data with the preset length according to the updated encryption scheme.
In one embodiment, if the length of the unencrypted flight data exceeds the preset length, a part of data, which is obtained earlier in time according to the preset length, in the unencrypted flight data is encrypted first.
In another embodiment, when the total amount of the acquired flight data in the flight process is large, the flight data may be divided and encrypted according to a preset length. Optionally, the acquired flight data may be divided into at least one group according to a preset length, and for each group of flight data, the group of flight data is encrypted according to the updated encryption scheme.
In this embodiment, the flight data can be encrypted in real time, and if the unencrypted flight data still exists and the length of the unencrypted flight data reaches or exceeds the preset length, the flight data with the preset length is selected from the unencrypted flight data and encrypted. Specifically, the selection may be made in accordance with the acquisition time, and the earliest acquired flight data of a preset length may be selected from among the non-encrypted flight data to be encrypted.
Optionally, the preset length is 1024 bytes, and the encryption is performed once every 1024 bytes or more of data are acquired. The acquired flight data may be sorted by acquisition time. In one embodiment, after the flight data is acquired, the flight data is stored in a queue of the buffer in chronological order, and at each encryption, the top 1024 bytes in the queue (i.e., at the head of the queue, or at the top of the time point of the timestamp display) are selected for encryption.
For example, if a piece of information collected by sensor a is obtained first and the length is 1792 bytes, the first 1024 bytes may be encrypted first, and the remaining 1792 and 1027 are 768 bytes. Then, the information collected by the sensor B is obtained, the length of the information is 512 bytes, and the rest 768 bytes of the previous information and the first 256 bytes of the next information are added: 768+ 256-1024 bytes, then 1024 bytes consisting of the last 768 bytes of the previous piece of information and the first 256 bytes of the next piece of information can be encrypted. The remaining 256 bytes of the latter piece of information may be encrypted after 1024 bytes of data are pieced together with the later acquired data. If the data left unencrypted before power-off is less than 1024 bytes, 1024 bytes can be filled in a zero filling mode and encrypted.
And step 404, storing the encrypted flight data to be stored into a memory card of the unmanned aerial vehicle every preset time.
For example, the encrypted flight data may be stored at a frequency of 50 times per second.
According to the flight data processing method provided by the embodiment, when the length of the flight data which is not encrypted at present reaches or exceeds the preset length, the flight data with the preset length is selected from the flight data, and the flight data with the preset length is encrypted according to the updated encryption scheme, so that the real-time performance of data encryption is met; and storing the encrypted flight data to be stored into the memory card at preset intervals, so that the processing performance of the flight data processing device can be ensured on the basis of considering real-time performance.
The above provides the embodiment of real-time encryption and storage at preset time intervals, and in other alternative embodiments, encryption may be performed at regular time intervals, for example, at a frequency of 50 times per second; or, the data may be stored in real time, specifically, the encrypted data may be stored in the memory card in real time after being encrypted each time.
Example four
The fourth embodiment of the invention provides a flight data processing method of an unmanned aerial vehicle. On the basis of the technical scheme provided by the embodiment, after each time of power-on, the embodiment generates a corresponding file in the memory card for the current flight process to store the encrypted data. The following gives a specific implementation flow of storing encrypted data based on files.
Fig. 5 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a fourth embodiment of the present invention. As shown in fig. 5, the flight data processing method in this embodiment may include:
and step 501, obtaining an encryption type.
In this embodiment, each step may be implemented by calling a corresponding Application Programming Interface (API). For example, obtaining the encryption type may be accomplished by calling a get log encryption type function log-get-encrypt-type.
The encryption type may be fixed, as in the AES encryption described earlier, or may be user-selected, according to which the following encryption process may be performed.
Step 502, generating a file corresponding to the current flight process in the memory card.
Creating a file can be created by calling the open function fopen. The file may be a log file, and the file is used to store the encrypted flight data.
Optionally, the name of the file includes at least part of basic information for generating the key. For example, the name of the file may include an shelf number and a random number, so that a decryption key is generated according to the shelf number, the random number and the like during decryption, and decryption of the file is completed.
Step 503, initialize the context object. That is, the context object of the newly created file is initialized.
Initializing a context object (context) may be accomplished by calling the function log-init-encrypt-ctx of the encryption context object of the initialization log.
The context object may include a key. Initializing a context object may comprise a process of updating an encryption key, and in particular, initializing a context object may comprise: and calling a key generation algorithm to generate a key according to the serial number, the frame number and the random number. By step 503, updating the encryption scheme after the drone is powered on can be realized.
Step 504, generate file header.
And step 505, writing the file header.
Generating a file header (header) may be accomplished by calling a file header function log-gen-file-header that generates the log. Writing to the file header may be accomplished by calling the write function fwrite.
Optionally, in this embodiment, description information may be obtained, where the description information includes at least one of the following: encryption type, file creation time, length of flight data encrypted each time, the description information may be written as a header to the file. Through the description information recorded in the file, the information required by decryption can be known during decryption, and the data is ensured to be correctly restored.
Optionally, the description information may be encrypted and written into the file according to the updated key, so as to further improve data security.
Step 506, encrypting the flight data.
Encrypting the flight data may be accomplished by calling an encrypted log fragment function log-encrypt-fragment. After the flight data in the flight process of the unmanned aerial vehicle are obtained, the encryption of the flight data can be realized according to the secret key.
And 507, writing the encrypted flight data. In one example, a write function fwrite is called to write the encrypted flight data.
Step 508, determine whether the write operation was successful.
If the write operation is not successful, go to step 509, and if the write operation is successful, go to step 510.
Step 509, relocate the file write pointer. And returns to perform step 507. In one example, a lookup function fseek is called to implement.
In this embodiment, the encrypted flight data may be stored in the memory card of the unmanned aerial vehicle in the following manner: writing the encrypted flight data into the file according to the file write pointer; judging whether the encrypted flight data is successfully written into the file: and if the encrypted flight data is not successfully written into the file, repositioning a file writing pointer, and writing the encrypted flight data into the file according to the file writing pointer.
In particular, writing encrypted flight data into the file may be achieved through the above-described steps 507 to 509. Writing the encrypted flight data in step 507 may be accomplished by calling the write function fwrite. In step 508, it can be determined whether the write was successful by writing the data returned by the function fwrite. If the writing of the encrypted flight data is unsuccessful, the file writing pointer may be relocated through step 509, the relocation of the file writing pointer may be realized by calling the lookup function fseek, and after the pointer is relocated, the procedure may return to step 507 to write the encrypted flight data again until the writing of the flight data is successful.
Step 510, determine whether the log writing is complete.
If the log writing is not completed, the process returns to step 506, the obtained unencrypted flight data is encrypted and written, and if the log writing is completed, step 511 is executed.
Step 511, close the file.
After the log write is completed, the file is closed. Closing the file may be accomplished by calling a close function fclose.
Alternatively, whether writing is completed may be determined by whether a power-down indication is obtained. As long as power is not turned off, the log writing is considered to be incomplete, the flight data can be obtained all the time and written after being encrypted, and the latest flight data is guaranteed to be written into the memory card. Therefore, the whole encryption process is continuously carried out in the flight process.
Step 512, delete context object.
In this embodiment, the initialized context object may be stored in a local log. When the flight data are encrypted, the updated key can be obtained from the log to encrypt the flight data, so that the encryption process can be quickly realized, and the encryption efficiency is improved.
After the file is closed, the context object can be deleted, and the deletion of the context object can be realized by calling a delete log encryption context function log-delete-encrypt-ctx. Before the unmanned aerial vehicle is powered off, the context object in the local log is deleted, and the safety of the encryption key can be ensured.
In other implementations, the file may be closed multiple times between power-up and power-down. For example, the file may be closed immediately after the unmanned aerial vehicle lands, the file corresponding to the flight process may be opened after the unmanned aerial vehicle takes off again, and the flight data may be stored in the file continuously.
According to the flight data processing method provided by the embodiment, after the unmanned aerial vehicle is powered on, the file corresponding to the flight process is generated in the storage card, the flight data is encrypted by the API interface function and written into the file, the encrypted storage of the flight data can be rapidly and accurately realized, different files correspond to different encryption keys, the security level is high, and the security of user data can be well guaranteed.
EXAMPLE five
The fifth embodiment of the invention provides a flight data processing method of an unmanned aerial vehicle. In this embodiment, when the number of files in the memory card exceeds a certain value, the storage of the flight data may be implemented by opening an existing file and updating the file.
Optionally, generating a file corresponding to the current flight process in the memory card may include: if the number of the files in the memory card is smaller than the preset number, creating a new file in the memory card; if the number of the files in the memory card is equal to the preset number, selecting one file from the existing files in the memory card, and updating the name of the selected file to the name corresponding to the flight process, so that data storage failure caused by insufficient storage space of the memory card is avoided.
Optionally, after selecting one file from the existing files in the memory card, the selected file may be opened, and the description information in the file may be read; and if at least part of the description information recorded in the file is not in accordance with the description information corresponding to the current flight process, updating the at least part of the information to ensure the correctness of the description information.
Optionally, the storing the encrypted flight data in the memory card of the unmanned aerial vehicle may include: and covering the encrypted flight data with the original flight data stored in the file, so that the new flight data is used for replacing the old flight data, and the latest flight data can be timely acquired after the unmanned aerial vehicle crashes. Due to the limited capacity of the memory card, only the flight data at the latest moment can be stored in the memory card by using the method of replacing or overwriting the old flight data with the new flight data. Therefore, the embodiment of the present invention can be realized by using a memory card having a small capacity. Therefore, in this embodiment, the utilization rate of the memory card is improved.
For example, it can be set that at most 20 files are stored in the memory card, so that a new file is generated in the previous 20 flights and corresponding flight data is stored. In the 21 st flight, the 21 st file is not generated, but the 1 st file is opened, and the flight data in the 21 st flight is overlaid on the data originally stored in the 1 st file.
Specifically, the number of files in the memory card can be checked after each power-on: if the number of the files in the memory card is smaller than the preset number, a new file can be created to store the encrypted flight data by adopting the flow provided in the steps 501 to 512; if the number of files in the memory card is equal to the preset number, the following procedure provided by this embodiment may be adopted to implement the storage of the flight data.
Fig. 6 is a schematic flow chart of a flight data processing method of an unmanned aerial vehicle according to a fifth embodiment of the present invention. As shown in fig. 6, the flight data processing method provided in this embodiment may include:
step 601, obtaining the encryption type.
Step 602, open the old file in the memory card.
Opening the old file may be accomplished by calling the open function fopen interface. The opened old file can be used for storing flight data in the flight process.
Before or after the old file is opened, the name of the file may be updated to the name corresponding to the current flight procedure, for example, the name of the file is changed to the rack number and the random number corresponding to the current flight procedure, so as to ensure that the data is correctly decrypted.
Step 603, initializing a context object.
Step 604, reading the file header.
Reading the file header may be accomplished by calling the read function fread interface.
Step 605, determine whether the header needs to be updated. If yes, go to step 606, otherwise go to step 607 directly.
Step 606, writing the new description information into the file header.
For example, in the 21 st flight process, the 1 st file in the memory card is opened, the header of the 1 st file is read, the header stores description information such as encryption types, if the content of the header is the same as the information corresponding to the flight process, the modification is not needed, and if partial information is different, the partial information is modified, so that the file header meets the requirement of the flight process.
In other alternative embodiments, the new description information may be directly written into the file header without determining the header, and the original description information may be overwritten.
Step 607, encrypt the flight data.
Step 608, write the encrypted flight data.
Step 609, judge whether the write operation is successful.
If the write operation is unsuccessful, go to step 610, and if the write operation is successful, go to step 611.
Step 610, relocate the file write pointer. And returns to performing step 608.
Step 611, determine whether the log writing is completed.
If the log writing is not completed, the process returns to step 607, the obtained unencrypted flight data is encrypted and written, and if the log writing is completed, step 612 is executed.
Step 612, close the file.
Step 613, delete context object.
For specific implementation principles and methods of parts not described in detail in this embodiment, reference may be made to the foregoing embodiments, which are not described herein again.
According to the flight data processing method provided by the embodiment, after the unmanned aerial vehicle is powered on, if the number of the files in the storage card is equal to the preset number, one file is selected from the existing files in the storage card, the name of the selected file is updated to be the name corresponding to the flight process, the file corresponding to the flight process is generated in the storage card, the failure of storage of flight data caused by insufficient storage space of the storage card can be avoided, the latest flight data can be guaranteed to be written into the storage card, and the guarantee is provided for analyzing the accident reason after the unmanned aerial vehicle crashes.
EXAMPLE six
Fig. 7 is a schematic structural diagram of a flight data processing apparatus according to a sixth embodiment of the present invention. The flight data processing device may execute the flight data processing method corresponding to fig. 1, and as shown in fig. 7, the flight data processing device may include:
a memory 11 for storing a computer program;
a processor 12 for executing the computer program stored in the memory to implement:
after the unmanned aerial vehicle is powered on, updating an encryption scheme;
acquiring flight data of the unmanned aerial vehicle in the flight process;
encrypting the acquired flight data according to the updated encryption scheme;
and storing the encrypted flight data into a storage card of the unmanned aerial vehicle.
Optionally, the structure of the flight data processing apparatus may further include a communication interface 13 for communicating with other devices or a communication network.
In one implementable manner, the updating the encryption scheme includes updating at least one of: encryption type, encryption key, data length per encryption, and encryption algorithm.
In one implementable manner, the flight data includes at least one of: the system comprises sensing data acquired by a sensor of the unmanned aerial vehicle, control data used for controlling the unmanned aerial vehicle and log data generated by a processor of the unmanned aerial vehicle, wherein the control data is sent by a server or user equipment.
In an implementable manner, when the encryption scheme is updated after the unmanned aerial vehicle is powered on, the processor 12 is specifically configured to:
determining base information for generating a key, the base information comprising at least one of: a serial number, a rack number, and a random number of the drone;
and acquiring a key generation algorithm, and generating a key according to the basic information by using the key generation algorithm.
In one implementable manner, prior to updating the encryption scheme, the processor 12 is further configured to:
after the unmanned aerial vehicle is powered on, reading the frame number from the storage card;
and adding one to the shelf number to form a new shelf number, and updating the shelf number in the memory card to the new shelf number.
In one implementation, prior to reading the shelf number from the memory card, the processor 12 is further configured to:
detecting whether the memory card is mounted successfully; and if the memory card is not mounted successfully, the operation of mounting the memory card is executed.
In one implementable manner, the key generation algorithm is stored in a secure area of a flight data processing device of the drone;
in the obtaining the key generation algorithm, the processor 12 is specifically configured to:
a key generation algorithm is obtained from the secure area.
In one implementation, the processor 12 is further configured to: storing the updated encryption scheme in a local log;
when encrypting the acquired flight data according to the updated encryption scheme, the processor 12 is specifically configured to: and acquiring the updated encryption scheme from the log, and encrypting the acquired flight data.
In one implementation, the processor 12 is further configured to:
and deleting the encryption scheme in the log before powering off the unmanned aerial vehicle.
In an implementable manner, when encrypting the acquired flight data according to the updated encryption scheme, the processor 12 is specifically configured to:
and encrypting the acquired flight data by adopting an Advanced Encryption Standard (AES) encryption algorithm according to the updated key.
In an implementable manner, when encrypting the acquired flight data according to the updated encryption scheme, the processor 12 is specifically configured to:
acquiring an encryption type sent by a server or user equipment;
and encrypting the acquired flight data according to the updated key by using an encryption algorithm corresponding to the encryption type.
In an implementable mode, the acquired flight data are divided into at least one group according to a preset length;
when encrypting the acquired flight data according to the updated encryption scheme, the processor 12 is specifically configured to:
and encrypting the set of flight data according to the updated encryption scheme aiming at each set of flight data.
In an implementable manner, when encrypting each set of flight data according to the updated encryption scheme, the processor 12 is specifically configured to:
if the length of the flight data which is not encrypted in the currently acquired flight data reaches or exceeds the preset length, selecting the flight data with the preset length from the flight data, and encrypting the flight data with the preset length according to the updated encryption scheme.
In an implementable manner, when the encrypted flight data is saved in the memory card of the drone, the processor 12 is specifically configured to:
storing the encrypted flight data into a memory card of the unmanned aerial vehicle in real time;
or, storing the encrypted flight data to be stored into a memory card of the unmanned aerial vehicle every preset time.
In one implementation, the processor is further configured to:
after the unmanned aerial vehicle is powered on, a file corresponding to the flight process is generated in the storage card, and the file is used for storing encrypted flight data.
In an implementable manner, when the encrypted flight data is saved in the memory card of the drone, the processor is specifically configured to:
writing the encrypted flight data into the file according to the file write pointer;
judging whether the encrypted flight data is successfully written into the file: and if the encrypted flight data is not successfully written into the file, repositioning a file writing pointer, and writing the encrypted flight data into the file according to the file writing pointer.
In one practical way, the name of the file includes at least part of the basic information for generating the key.
In one implementation, the processor is further configured to:
obtaining description information, wherein the description information comprises at least one of the following items: encryption type, file creation time, length of flight data encrypted each time;
and according to the updated key, writing the description information into the file after encrypting the description information.
In an implementable manner, when generating a file corresponding to the current flight procedure in the memory card, the processor is specifically configured to:
if the number of the files in the memory card is smaller than the preset number, creating a new file in the memory card;
and if the number of the files in the memory card is equal to the preset number, selecting one file from the existing files in the memory card, and updating the name of the selected file to the name corresponding to the current flight process.
In one implementation, after selecting a file from the files already in the memory card, the processor is further configured to:
opening the selected file, and reading the description information in the file;
and if at least part of the description information recorded in the file does not accord with the description information corresponding to the current flight process, updating the at least part of the information.
In an implementable manner, when the encrypted flight data is saved in the memory card of the drone, the processor is specifically configured to:
and covering the encrypted flight data with the original flight data stored in the file.
The flight data processing device shown in fig. 7 can execute the method of the embodiment shown in fig. 1 to 6, and the parts not described in detail in this embodiment can refer to the related description of the embodiment shown in fig. 1 to 6. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to 6, and are not described herein again.
EXAMPLE seven
The seventh embodiment of the invention provides a flight recorder. The flight recorder in this embodiment may include: the flight data processing device and the memory card according to any one of the above embodiments.
Optionally, the memory card may include at least one of: secure digital card, micro secure digital card, compact flash card, smart card, extreme digital image card, memory stick.
The structure, function, and connection relationship of each component of the flight recorder in this embodiment can be referred to the above embodiments, and are not described herein again.
The flight recorder provided by the embodiment of the invention can update the encryption scheme after power-on, encrypt the flight data according to the updated encryption scheme, store the encrypted flight data into the memory card, read the flight data before crash from the memory card after the unmanned aerial vehicle crashes, analyze specific accident reasons, provide basis for subsequent optimization and responsibility determination, meet the development optimization requirements of the unmanned aerial vehicle and the liability determination requirements of unmanned aerial vehicle crash, update the encryption scheme after power-on every time, effectively improve the safety of the flight data and guarantee the safety of user data.
Optionally, the flight recorder may further include: a housing for mounting the memory card. The housing may be made of a pressure resistant material, which may be any material having a certain pressure resistance, such as steel. Through placing the storage card in the steel casing, can realize the resistance to compression protection of storage card, prevent because the flight data that the aircraft crash led to lose.
Fig. 8 is a schematic structural diagram of a flight recorder according to a seventh embodiment of the present invention. As shown in fig. 8, the housing may include an upper case 801 and a lower case 802, and a hermetically sealed cavity may be formed between the upper case 801 and the lower case 802, and the memory card is disposed in the cavity. The upper shell 801 and the lower shell 802 may be fixed to each other by screws or other means.
Optionally, the lower shell 802 may be provided with a card slot for fixing a memory card, the memory card is arranged in the card slot, the upper shell 801 may be a steel card holder, and the memory card is fixed by the card slot and the card holder, which is simple in structure and easy to implement. In one embodiment, the slot is a steel structure.
The housing and the memory card may form a black box (black box) through which flight data of the drone may be recorded. According to the flight data recorded by the black box before the crash of the unmanned aerial vehicle, the process of the accident can be reproduced, and the reason of the accident can be vividly analyzed.
Optionally, a waterproof sealing ring can be arranged in the shell, so that a waterproof function can be realized, and the damage to the memory card caused by water entering the shell is prevented.
Optionally, thermal insulation material can be arranged in the shell, and the storage card can be prevented from being damaged due to overhigh temperature when the unmanned aerial vehicle is exploded.
Optionally, the flight recorder may further include: a signal line 803; the flight data processing device (not shown in fig. 8) and the memory card may be connected by the signal line 803. Optionally, the signal line 803 may be a Flexible signal line, for example, a Flexible Printed Circuit (FPC) or the like, so as to facilitate electrical connection between the flight data processing device and the memory card, and reduce the wiring difficulty.
Optionally, one end of the signal line 803 may be provided with a connector 804 for connecting with a flight data processing device, where the connector 804 includes foam, and the foam is favorable for the flight data processing device to fully contact with the signal line 803, so as to ensure normal data transmission.
The embodiment of the invention also provides an unmanned aerial vehicle which comprises the flight recorder in any one of the embodiments. The structure, function and the connection relation of each part of the unmanned aerial vehicle can be seen in the embodiment, and are not repeated here.
The unmanned aerial vehicle provided by the embodiment of the invention can update the encryption scheme after being powered on, encrypt the flight data according to the updated encryption scheme, store the encrypted flight data into the memory card, read the flight data before crash from the memory card after the unmanned aerial vehicle crashes, analyze specific accident causes, provide basis for subsequent optimization and liability determination, meet the development optimization requirements of the unmanned aerial vehicle and the liability determination requirements of the unmanned aerial vehicle crash, update the encryption scheme after being powered on every time, effectively improve the safety of the flight data and guarantee the safety of user data.
The unmanned aerial vehicle provided by the embodiment of the invention can comprise but is not limited to unmanned aerial vehicles of consumption, industry, agriculture, education, security and the like.
Storage card among the flight recorder can be located unmanned aerial vehicle's focus position, the physical safety of assurance storage card that can furthest avoids flight data to lose.
According to the flight data processing method, the flight data processing device, the recorder, the unmanned aerial vehicle and the storage medium, the flight data before crash can be read from the storage card after the unmanned aerial vehicle crashes, specific accident reasons can be analyzed, a basis is provided for subsequent optimization and responsibility determination, the development optimization requirements of the unmanned aerial vehicle and the responsibility determination requirements of the unmanned aerial vehicle crash can be met, the encryption scheme is updated every time power is turned on, the safety of the storage card recorded with the encrypted flight data can be effectively improved, and the safety of user data can be guaranteed.
In addition, the present invention provides a storage medium, which is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the flight data processing method in the embodiments shown in fig. 1 to fig. 6.
The technical solutions and the technical features in the above embodiments may be used alone or in combination when conflicting with the present invention, and all embodiments are equivalent embodiments within the scope of the present invention as long as they do not exceed the scope recognized by those skilled in the art.
In the embodiments provided in the present invention, it should be understood that the disclosed related remote control device and method can be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer Processor (Processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (53)

1. A flight data processing method of an unmanned aerial vehicle is characterized by comprising the following steps:
after the unmanned aerial vehicle is powered on, updating an encryption scheme;
acquiring flight data of the unmanned aerial vehicle in the flight process;
encrypting the acquired flight data according to the updated encryption scheme;
and storing the encrypted flight data into a storage card of the unmanned aerial vehicle.
2. The method of claim 1, wherein updating the encryption scheme comprises updating at least one of: encryption type, encryption key, data length per encryption, and encryption algorithm.
3. The method of claim 1, wherein the flight data comprises at least one of: the system comprises sensing data acquired by a sensor of the unmanned aerial vehicle, control data used for controlling the unmanned aerial vehicle and log data generated by a processor of the unmanned aerial vehicle, wherein the control data is sent by a server or user equipment.
4. The method of claim 1, wherein updating the encryption scheme after powering up the drone comprises:
determining base information for generating a key, the base information comprising at least one of: a serial number, a rack number, and a random number of the drone;
and acquiring a key generation algorithm, and generating a key according to the basic information by using the key generation algorithm.
5. The method of claim 4, further comprising, prior to updating the encryption scheme:
after the unmanned aerial vehicle is powered on, reading the frame number from the storage card;
and adding one to the shelf number to form a new shelf number, and updating the shelf number in the memory card to the new shelf number.
6. The method of claim 5, further comprising, prior to reading the shelf number from the memory card:
detecting whether the memory card is mounted successfully; and if the memory card is not mounted successfully, the operation of mounting the memory card is executed.
7. The method of claim 4, wherein the key generation algorithm is stored in a secure area of a flight data processing device of the drone;
the acquisition key generation algorithm comprises:
a key generation algorithm is obtained from the secure area.
8. The method of any one of claims 1-7, further comprising: storing the updated encryption scheme in a local log;
according to the updated encryption scheme, encrypting the acquired flight data comprises the following steps: and acquiring the updated encryption scheme from the log, and encrypting the acquired flight data.
9. The method of claim 8, further comprising:
and deleting the encryption scheme in the log before powering off the unmanned aerial vehicle.
10. The method of claim 4, wherein encrypting the acquired flight data according to the updated encryption scheme comprises:
and encrypting the acquired flight data by adopting an Advanced Encryption Standard (AES) encryption algorithm according to the updated key.
11. The method of claim 4, wherein encrypting the acquired flight data according to the updated encryption scheme comprises:
acquiring an encryption type sent by a server or user equipment;
and encrypting the acquired flight data according to the updated key by using an encryption algorithm corresponding to the encryption type.
12. The method according to claim 1, characterized in that the acquired flight data are divided into at least one group according to a preset length;
according to the updated encryption scheme, encrypting the acquired flight data comprises the following steps:
and encrypting the set of flight data according to the updated encryption scheme aiming at each set of flight data.
13. The method of claim 12, wherein encrypting the set of flight data according to the updated encryption scheme for each set of flight data comprises:
if the length of the flight data which is not encrypted in the currently acquired flight data reaches or exceeds the preset length, selecting the flight data with the preset length from the flight data, and encrypting the flight data with the preset length according to the updated encryption scheme.
14. The method of claim 1, wherein saving the encrypted flight data to a memory card of the drone comprises:
storing the encrypted flight data into a memory card of the unmanned aerial vehicle in real time;
or, storing the encrypted flight data to be stored into a memory card of the unmanned aerial vehicle every preset time.
15. The method of claim 1, further comprising:
after the unmanned aerial vehicle is powered on, a file corresponding to the flight process is generated in the storage card, and the file is used for storing encrypted flight data.
16. The method of claim 15, wherein saving the encrypted flight data to a memory card of the drone comprises:
writing the encrypted flight data into the file according to the file write pointer;
judging whether the encrypted flight data is successfully written into the file: and if the encrypted flight data is not successfully written into the file, repositioning a file writing pointer, and writing the encrypted flight data into the file according to the file writing pointer.
17. The method of claim 15, wherein the name of the file comprises at least part of basic information for generating the key.
18. The method of claim 15, further comprising:
obtaining description information, wherein the description information comprises at least one of the following items: encryption type, file creation time, length of flight data encrypted each time;
and according to the updated key, writing the description information into the file after encrypting the description information.
19. The method of claim 18, wherein generating a file corresponding to the current flight procedure in the memory card comprises:
if the number of the files in the memory card is smaller than the preset number, creating a new file in the memory card;
and if the number of the files in the memory card is equal to the preset number, selecting one file from the existing files in the memory card, and updating the name of the selected file to the name corresponding to the current flight process.
20. The method of claim 19, further comprising, after selecting a file from files already in the memory card:
opening the selected file, and reading the description information in the file;
and if at least part of the description information recorded in the file does not accord with the description information corresponding to the current flight process, updating the at least part of the information.
21. The method of claim 20, wherein saving the encrypted flight data to a memory card of the drone comprises:
and covering the encrypted flight data with the original flight data stored in the file.
22. A flight data processing apparatus, comprising:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
after the unmanned aerial vehicle is powered on, updating an encryption scheme;
acquiring flight data of the unmanned aerial vehicle in the flight process;
encrypting the acquired flight data according to the updated encryption scheme;
and storing the encrypted flight data into a storage card of the unmanned aerial vehicle.
23. The apparatus of claim 22, wherein updating the encryption scheme comprises updating at least one of: encryption type, encryption key, data length per encryption, and encryption algorithm.
24. The apparatus of claim 22, wherein the flight data comprises at least one of: the system comprises sensing data acquired by a sensor of the unmanned aerial vehicle, control data used for controlling the unmanned aerial vehicle and log data generated by a processor of the unmanned aerial vehicle, wherein the control data is sent by a server or user equipment.
25. The apparatus of claim 22, wherein when the encryption scheme is updated after the drone is powered on, the processor is specifically configured to:
determining base information for generating a key, the base information comprising at least one of: a serial number, a rack number, and a random number of the drone;
and acquiring a key generation algorithm, and generating a key according to the basic information by using the key generation algorithm.
26. The apparatus of claim 25, wherein prior to updating the encryption scheme, the processor is further configured to:
after the unmanned aerial vehicle is powered on, reading the frame number from the storage card;
and adding one to the shelf number to form a new shelf number, and updating the shelf number in the memory card to the new shelf number.
27. The apparatus of claim 26, wherein prior to reading the shelf number from the memory card, the processor is further configured to:
detecting whether the memory card is mounted successfully; and if the memory card is not mounted successfully, the operation of mounting the memory card is executed.
28. The apparatus of claim 25, wherein the key generation algorithm is stored in a secure area of a flight data processing apparatus of the drone;
in the obtaining the key generation algorithm, the processor is specifically configured to:
a key generation algorithm is obtained from the secure area.
29. The apparatus according to any one of claims 22-28, wherein the processor is further configured to: storing the updated encryption scheme in a local log;
when the acquired flight data is encrypted according to the updated encryption scheme, the processor is specifically configured to: and acquiring the updated encryption scheme from the log, and encrypting the acquired flight data.
30. The apparatus of claim 29, wherein the processor is further configured to:
and deleting the encryption scheme in the log before powering off the unmanned aerial vehicle.
31. The apparatus according to claim 25, wherein when encrypting the acquired flight data according to the updated encryption scheme, the processor is specifically configured to:
and encrypting the acquired flight data by adopting an Advanced Encryption Standard (AES) encryption algorithm according to the updated key.
32. The apparatus according to claim 25, wherein when encrypting the acquired flight data according to the updated encryption scheme, the processor is specifically configured to:
acquiring an encryption type sent by a server or user equipment;
and encrypting the acquired flight data according to the updated key by using an encryption algorithm corresponding to the encryption type.
33. The device according to claim 22, wherein the acquired flight data is divided into at least one group according to a preset length;
when the acquired flight data is encrypted according to the updated encryption scheme, the processor is specifically configured to:
and encrypting the set of flight data according to the updated encryption scheme aiming at each set of flight data.
34. The apparatus of claim 33, wherein, in encrypting the set of flight data according to the updated encryption scheme for each set of flight data, the processor is specifically configured to:
if the length of the flight data which is not encrypted in the currently acquired flight data reaches or exceeds the preset length, selecting the flight data with the preset length from the flight data, and encrypting the flight data with the preset length according to the updated encryption scheme.
35. The apparatus of claim 22, wherein, when saving the encrypted flight data to the memory card of the drone, the processor is specifically configured to:
storing the encrypted flight data into a memory card of the unmanned aerial vehicle in real time;
or, storing the encrypted flight data to be stored into a memory card of the unmanned aerial vehicle every preset time.
36. The apparatus of claim 22, wherein the processor is further configured to:
after the unmanned aerial vehicle is powered on, a file corresponding to the flight process is generated in the storage card, and the file is used for storing encrypted flight data.
37. The apparatus of claim 36, wherein, when saving the encrypted flight data to the memory card of the drone, the processor is specifically configured to:
writing the encrypted flight data into the file according to the file write pointer;
judging whether the encrypted flight data is successfully written into the file: and if the encrypted flight data is not successfully written into the file, repositioning a file writing pointer, and writing the encrypted flight data into the file according to the file writing pointer.
38. The apparatus of claim 36, wherein the name of the file comprises at least part of basic information for generating a key.
39. The apparatus of claim 36, wherein the processor is further configured to:
obtaining description information, wherein the description information comprises at least one of the following items: encryption type, file creation time, length of flight data encrypted each time;
and according to the updated key, writing the description information into the file after encrypting the description information.
40. The apparatus of claim 39, wherein when generating the file corresponding to the current flight procedure in the memory card, the processor is specifically configured to:
if the number of the files in the memory card is smaller than the preset number, creating a new file in the memory card;
and if the number of the files in the memory card is equal to the preset number, selecting one file from the existing files in the memory card, and updating the name of the selected file to the name corresponding to the current flight process.
41. The apparatus of claim 40, wherein after selecting a file from files already in the memory card, the processor is further configured to:
opening the selected file, and reading the description information in the file;
and if at least part of the description information recorded in the file does not accord with the description information corresponding to the current flight process, updating the at least part of the information.
42. The apparatus of claim 41, wherein, when saving the encrypted flight data to the memory card of the drone, the processor is specifically configured to:
and covering the encrypted flight data with the original flight data stored in the file.
43. A flight recorder, comprising: the flight data processing apparatus and the memory card of any one of claims 22 to 42.
44. The flight recorder of claim 43, wherein the memory card comprises at least one of:
secure digital card, micro secure digital card, compact flash card, smart card, extreme digital image card, memory stick.
45. The flight recorder of claim 43, further comprising: a housing for mounting the memory card;
the shell is made of pressure-resistant materials.
46. The flight recorder of claim 45, wherein the housing comprises an upper shell and a lower shell;
the lower shell is provided with a clamping groove for fixing a storage card, and the storage card is arranged in the clamping groove.
47. The flight recorder of claim 45, wherein a seal for waterproofing is provided within the housing.
48. The flight recorder of claim 45, wherein an insulating material is disposed within the housing.
49. The flight recorder of claim 45, further comprising: a signal line;
the flight data processing device is connected with the memory card through the signal wire.
50. A flight recorder according to claim 49, wherein one end of the signal line is provided with a connector for connection with a flight data processing device, the connector comprising foam.
51. An unmanned aerial vehicle, comprising: a flight recorder as claimed in any one of claims 43 to 50.
52. A drone according to claim 51, wherein the memory card in the flight recorder is located at the centre of gravity of the drone.
53. A computer-readable storage medium, characterized in that program instructions are stored in the computer-readable storage medium for implementing the flight data processing method according to any one of claims 1 to 21.
CN202080004956.2A 2020-03-23 2020-03-23 Flight data processing method and device, recorder, unmanned aerial vehicle and storage medium Pending CN112655031A (en)

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