CN117062006B

CN117062006B - Network-connected unmanned aerial vehicle identification and control method, system, equipment and storage medium

Info

Publication number: CN117062006B
Application number: CN202311015473.4A
Authority: CN
Inventors: 田真真; 张学平; 田军; 吴永梅
Original assignee: Chongqing Lankoon Unmanned Plane Technology Co ltd
Current assignee: Chongqing Lankoon Unmanned Plane Technology Co ltd
Priority date: 2023-08-11
Filing date: 2023-08-11
Publication date: 2024-04-26
Anticipated expiration: 2043-08-11
Also published as: CN117062006A

Abstract

The application discloses a network connection unmanned aerial vehicle identification and control method, a system, equipment and a storage medium, wherein the method comprises the following steps: determining a motion trail and an average speed of monitored equipment communicated with an operator base station in a target area in a preset period, wherein the preset period refers to a period of time before a period of time ending time with the current time; acquiring the current startup time information and historical voice call information of the monitored equipment; judging whether the monitored equipment is an internet-connected unmanned aerial vehicle or not based on the motion trail, the average speed, the current starting time information and the historical voice call information; and when the monitored equipment is judged to be the network-connected unmanned aerial vehicle, the network-connected unmanned aerial vehicle is controlled by an operator. The application can realize the identification and control of the network connection unmanned aerial vehicle by using the operator base station.

Description

Network-connected unmanned aerial vehicle identification and control method, system, equipment and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicle management and control, in particular to a network-connected unmanned aerial vehicle identification and management and control method, a system, equipment and a storage medium.

Background

In recent years, with the continuous development and increasing maturity of communication technologies, 4G, 5G and other communication technologies are increasingly used. The unmanned aerial vehicle (namely, the internet-connected unmanned aerial vehicle) carrying the 4G and 5G communication modules can solve the problems of short control distance, limited remote monitoring and the like of the traditional unmanned aerial vehicle.

Unlike conventional unmanned aerial vehicle, the network-connected unmanned aerial vehicle utilizes 4G, 5G cellular network to carry out data transmission and control, therefore, can't find and reverse the network-connected unmanned aerial vehicle through conventional frequency spectrum detection and signal suppression equipment, and current unmanned aerial vehicle photoelectric reconnaissance equipment can't in time find unmanned aerial vehicle outside the sight range, and these all have brought the difficulty for the management and control of network-connected unmanned aerial vehicle.

Therefore, how to realize the identification and control of the internet-connected unmanned aerial vehicle is a problem to be solved at present.

Disclosure of Invention

In order to solve the technical problems, the application provides a network connection unmanned aerial vehicle identification and control method, which can realize the identification and control of the network connection unmanned aerial vehicle by using an operator base station. The application also provides a network-connected unmanned aerial vehicle identification and control system, equipment and a storage medium, which have the same technical effects.

The first object of the application is to provide a network-connected unmanned aerial vehicle identification and control method.

The first object of the present application is achieved by the following technical solutions:

A network connection unmanned aerial vehicle identification and control method comprises the following steps:

Determining a motion trail and an average speed of monitored equipment communicated with an operator base station in a target area in a preset period, wherein the preset period refers to a period of time before a period of time ending time with a current time;

Acquiring the current startup time information and the historical voice call information of the monitored equipment;

Judging whether the monitored equipment is an internet-connected unmanned aerial vehicle or not based on the motion trail, the average speed, the current starting-up time information and the historical voice call information;

And when the monitored equipment is judged to be the network-connected unmanned aerial vehicle, the network-connected unmanned aerial vehicle is controlled by an operator.

Preferably, the determining whether the monitored device is a network-connected unmanned aerial vehicle based on the motion trail, the average speed, the current startup time information and the historical voice call information includes:

a1, judging whether the motion trail of the monitored equipment in a preset period spans an entity obstacle marked in advance on an entity map corresponding to the target area or judging whether the average speed of the monitored equipment in the preset period is greater than a preset speed threshold, if so, executing a2;

a2, judging whether the current startup time of the monitored equipment is within a preset startup time threshold based on the current startup time information, and judging whether the monitored equipment has a voice call record within a past preset time threshold based on the historical voice call information;

and a3, when the current starting time length of the monitored equipment is within a preset starting time length threshold value and no voice call record exists in a past preset time length threshold value, judging that the monitored equipment is an internet-connected unmanned aerial vehicle.

b1, judging whether the current startup time of the monitored equipment is within a preset startup time threshold based on the current startup time information, judging whether the monitored equipment has a voice call record within a past preset time threshold based on the historical voice call information, and executing b2 when the current startup time of the monitored equipment is within the preset startup time threshold and no voice call record is found within the past preset time threshold;

b2, judging whether the motion trail of the monitored equipment in a preset period spans an entity obstacle marked in advance on an entity map corresponding to the target area or judging whether the average speed of the monitored equipment in the preset period is greater than a preset speed threshold;

and b3, if the motion trail spans an entity obstacle marked in advance on an entity map corresponding to the target area, or the average speed is greater than a preset speed threshold, judging that the monitored equipment is a network-connected unmanned aerial vehicle.

Preferably, the determining the motion track and the average speed of the monitored equipment in communication with the operator base station in the target area in the preset period includes:

Based on the RSSI signal values of the monitored equipment received by a plurality of operation Shang Ji stations in the target area at a plurality of time points in the preset period, positioning the positions of the monitored equipment at the plurality of time points by using a three-dimensional positioning method to obtain the position coordinates of the monitored equipment at the plurality of time points,

Wherein a first time point of the plurality of time points is a time starting point in the preset period, and a last time point of the plurality of time points is a time ending point in the preset period;

Sequentially connecting the position coordinates of the monitored equipment at the plurality of time points according to a time sequence to obtain the motion trail of the monitored equipment in a preset period;

and obtaining the average speed of the monitored equipment in the preset period based on the distance corresponding to the motion trail and the time length between the first time point and the last time point in the plurality of time points.

Preferably, the positioning the position of the monitored device at the multiple time points by using a tri-fix positioning method based on the RSSI signal values of the monitored device received by the multiple operation Shang Ji stations in the target area at the multiple time points in the preset period, and obtaining the position coordinates of the monitored device at the multiple time points includes:

c1, acquiring RSSI signal values of the monitored equipment received by a plurality of operator base stations in the target area at each time point of the time points;

c2, sequentially sequencing RSSI signal values of the monitored equipment received by a plurality of operator base stations in the target area at each time point in order from big to small;

c3, selecting 5 operator base stations with strongest RSSI signals from the plurality of operator base stations in the target area at each time point based on the sorting;

c4, selecting 3 groups of operator base station combinations from the 5 selected operator base stations, wherein each group of operator base station combinations comprises 3 operator base stations, and the operator base stations in any two groups of operator base station combinations are not identical;

c5, calculating 3 initial positions of the monitored equipment corresponding to the 3 groups of operator base station combinations by using a triangulation method based on 3 operator base stations of each group of operator base stations in the 3 groups of selected operator base stations;

And c6, connecting the 3 initial positions into a triangle, calculating the position coordinates of the gravity center of the triangle, and taking the position coordinates of the gravity center of the triangle as the position coordinates of the monitored equipment at the corresponding time point.

Preferably, the obtaining the current startup time information and the historical voice call information of the monitored device includes:

acquiring the SIM card identification of the monitored equipment based on an equipment information table of equipment which is maintained by an operator base station side and interacts with the base station;

Searching the current starting time information and the historical voice call information of the monitored equipment in an operator background management system based on the SIM card identification of the monitored equipment.

Preferably, the controlling the network-connected unmanned aerial vehicle by an operator includes:

and cutting off a communication link between the network connection unmanned aerial vehicle and the operator base station in the target area through an operator background management system so as to realize management and control of the network connection unmanned aerial vehicle.

The second object of the application is to provide a network-connected unmanned aerial vehicle recognition and control system.

The second object of the present application is achieved by the following technical solutions:

an online unmanned aerial vehicle identification and management and control system, the system comprising:

The track and speed determining module is used for determining the motion track and the average speed of the monitored equipment communicated with the operator base station in the target area in a preset period, wherein the preset period refers to a period of time before the current time is the period termination time;

The information acquisition module is used for acquiring the current startup time information and the historical voice call information of the monitored equipment;

The network-connected unmanned aerial vehicle judging module is used for judging whether the monitored equipment is a network-connected unmanned aerial vehicle or not based on the motion trail, the average speed, the current starting time information and the historical voice call information;

and the network connection unmanned aerial vehicle management and control module is used for managing and controlling the network connection unmanned aerial vehicle through an operator when the monitored equipment is judged to be the network connection unmanned aerial vehicle.

Preferably, the network unmanned aerial vehicle judging module is specifically configured to:

Preferably, the track and speed determining module is specifically configured to, when determining the motion track and average speed of the monitored device in communication with the operator base station in the target area within a preset period:

Preferably, the information acquisition module is specifically configured to:

Preferably, the network-connected unmanned aerial vehicle management and control module is specifically configured to:

A third object of the present application is to provide an electronic device.

The third object of the present application is achieved by the following technical solutions:

An electronic device, comprising:

The method comprises the steps of a network connection unmanned aerial vehicle identification and control method according to any one of the first objects of the application, a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program.

A fourth object of the present application is to provide a computer-readable storage medium.

The fourth object of the present application is achieved by the following technical solutions:

A computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the network-connected drone identification and management method according to any one of the first objects of the application described above.

In summary, the application discloses a method, a system, a device and a storage medium for identifying and controlling an internet-connected unmanned aerial vehicle, wherein the movement track and the average speed of monitored equipment communicated with an operator base station in a target area in a preset period are determined; acquiring the current startup time information and the historical voice call information of the monitored equipment; judging whether the monitored equipment is an internet-connected unmanned aerial vehicle or not based on the motion trail, the average speed, the current starting-up time information and the historical voice call information; and when the monitored equipment is judged to be the network-connected unmanned aerial vehicle, the network-connected unmanned aerial vehicle is controlled by an operator. The application can realize the identification and control of the network connection unmanned aerial vehicle by using the operator base station.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.

Fig. 1 is a schematic flow chart of an identifying and controlling method for an internet-connected unmanned aerial vehicle in an embodiment of the application;

Fig. 2 is a schematic diagram of a judging flow for judging whether the monitored equipment is an internet-connected unmanned aerial vehicle according to an embodiment of the application;

Fig. 3 is a schematic diagram of a judging flow for judging whether the monitored device is an internet-connected unmanned aerial vehicle according to another embodiment of the present application;

FIG. 4 is a schematic diagram of the principle of triangulation method according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of an identifying and controlling system of an internet-connected unmanned aerial vehicle according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other manners. The system embodiments described below are merely illustrative, and for example, the division of units and modules is merely a logical function division, and other divisions may be implemented in practice such as: multiple units or modules may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or modules, whether electrically, mechanically, or otherwise.

In addition, each functional unit in each embodiment of the present application may be integrated in one processor, or each unit may be separately used as one device, or two or more units may be integrated in one device; the functional units in the embodiments of the present application may be implemented in hardware, or may be implemented in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will appreciate that: all or part of the steps of implementing the method embodiments described below may be performed by program instructions and associated hardware, and the foregoing program instructions may be stored in a computer readable storage medium, which when executed, perform steps comprising the method embodiments described below; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" or "a number" means two or more, unless specifically defined otherwise.

As shown in fig. 1, an embodiment of the present application provides a method for identifying and controlling an internet-connected unmanned aerial vehicle, which may include the following steps:

s101, determining a motion track and an average speed of monitored equipment communicated with an operator base station in a target area in a preset period;

Because the network connection unmanned aerial vehicle utilizes the 4G and 5G cellular networks to carry out data transmission and control, the network connection unmanned aerial vehicle cannot be identified through the traditional frequency spectrum detection technology, and the network connection unmanned aerial vehicle cannot be reversely manufactured through the traditional signal pressing technology; in addition, although the existing unmanned aerial vehicle photoelectric reconnaissance equipment can be used for detecting and finding the unmanned aerial vehicle, the technology is limited by the sight range, namely the unmanned aerial vehicle photoelectric reconnaissance equipment cannot find the unmanned aerial vehicle in time outside the sight range. Therefore, for the internet-connected unmanned aerial vehicle, no good recognition and control measures exist in the prior art.

Aiming at the problem, the application provides a method for identifying and controlling the network-connected unmanned aerial vehicle by using an operator base station.

As can be seen from the characteristics of the unmanned aerial vehicle, the unmanned aerial vehicle has a certain average speed during flight, the average speed is usually above a certain speed threshold, and the unmanned aerial vehicle can span rivers, forests, buildings and mountains at a certain height, which cannot be realized by other devices (such as vehicles) and pedestrians which are provided with 4G, 5G and other cellular networks.

Therefore, when the operator base station is used for identifying and controlling the network-connected unmanned aerial vehicle, the motion track and the average speed of the monitored equipment which is communicated with the operator base station in the target area at the current moment in a preset period need to be determined.

It should be noted that, the preset period refers to a period of time before the current time is the period termination time. The length of the preset time period can be specifically set according to the needs, and the longer the length of the preset time period is, the higher the accuracy of the judgment result of judging whether the monitored equipment is the unmanned aerial vehicle or not is, but the more data to be processed is, the longer the calculation time is or the higher the requirement on the performance of the equipment is. Specifically, the preset period may be set to 10 minutes before the period end time with the current time as the period end time.

In particular, the target area may be an unmanned flying-free area or other special area.

S102, acquiring the current startup time information and the historical voice call information of the monitored equipment;

In consideration of the fact that the network connection unmanned aerial vehicle is generally powered by a battery, the duration of normal use is limited to a certain extent, meanwhile, the SIM card for cellular network communication mounted on the network connection unmanned aerial vehicle is generally free of voice call functions, or the use frequency of the voice call functions is lower than that of 4G and 5G network use equipment such as mobile phones, so that in order to ensure the accuracy of network connection unmanned aerial vehicle identification, the application also combines the current start-up time information and historical voice call information of the monitored equipment to identify and judge whether the monitored equipment is the network connection unmanned aerial vehicle. That is, when the operator base station is used to identify and control the network-connected unmanned aerial vehicle, the present application also needs to obtain the current startup time information and the historical voice call information of the monitored equipment.

S103, judging whether the monitored equipment is an Internet-connected unmanned aerial vehicle or not based on the motion trail, the average speed, the current starting time information and the historical voice call information;

After the motion trail and average speed of the monitored equipment in the preset period and the current starting time information and the historical voice call information of the monitored equipment are obtained, the motion trail and average speed of the monitored equipment in the preset period are combined with the current starting time information and the historical voice call information of the monitored equipment to judge whether the monitored equipment is an internet-connected unmanned aerial vehicle or not, namely, whether the monitored equipment is an internet-connected unmanned aerial vehicle or not is judged based on the motion trail, the average speed, the current starting time information and the historical voice call information.

Specifically, in this embodiment, when the motion track of the monitored device in the preset period spans the entity obstacle marked in advance on the entity map corresponding to the target area and/or the average speed of the monitored device in the preset period is greater than the preset speed threshold, the current startup time of the monitored device is within the preset startup time threshold, and no voice call record exists in the past preset time threshold, it may be determined that the monitored device is a network-connected unmanned aerial vehicle.

And S104, when the monitored equipment is judged to be the network-connected unmanned aerial vehicle, the network-connected unmanned aerial vehicle is controlled by an operator.

Finally, if the monitored equipment is judged to be the network connection unmanned aerial vehicle, the network connection unmanned aerial vehicle is controlled through an operator.

In summary, in the method for identifying and controlling the network-connected unmanned aerial vehicle in the above embodiment, first, a motion track and an average speed of a monitored device in communication with an operator base station in a target area in a preset period are determined; then acquiring the current startup time information and historical voice call information of the monitored equipment; then judging whether the monitored equipment is an internet-connected unmanned aerial vehicle or not based on the motion trail, the average speed, the current starting time information and the historical voice call information; and finally, when the monitored equipment is judged to be the network-connected unmanned aerial vehicle, the network-connected unmanned aerial vehicle is managed and controlled through an operator. According to the embodiment of the application, whether the monitored equipment is the network unmanned aerial vehicle or not is judged and identified by combining the motion track, the average speed, the current starting time information and the historical voice call information of the monitored equipment in a preset period, and when the monitored equipment is judged to be the network unmanned aerial vehicle, the network unmanned aerial vehicle is managed and controlled by an operator, so that the network unmanned aerial vehicle is identified and managed and controlled by an operator base station, the identification result is accurate and reliable, and the management and control are quick and effective.

It should be noted that, in the foregoing embodiment, the execution sequence of steps S101 and S102 is only an example, and in the actual execution process, the steps are not necessarily executed according to the sequence of steps S101 and S102, that is, the step of determining the motion track and the average speed of the monitored device in the preset period of time, which is communicated with the operator base station in the target area, may be executed first, the step of acquiring the current startup time information and the historical voice call information of the monitored device in S102 may also be executed first, and also the steps S101 and S102 may be executed concurrently.

Based on the above embodiment, in one embodiment, the determining in step S103 whether the monitored device is an internet-connected unmanned aerial vehicle based on the motion trail, the average speed, the current startup time information and the historical voice call information includes:

a1, judging whether a motion track of the monitored equipment in a preset period spans an entity obstacle marked in advance on an entity map corresponding to a target area or judging whether the average speed of the monitored equipment in the preset period is greater than a preset speed threshold, if so, executing a2;

and a3, when the current starting time length of the monitored equipment is within a preset starting time length threshold value and no voice call record exists in the past preset time length threshold value, judging that the monitored equipment is the internet-connected unmanned plane.

As shown in fig. 2, the network-connected unmanned aerial vehicle judging process in this embodiment may specifically perform the judgment according to the following procedure:

S311, judging whether the average speed of the monitored equipment in the preset period is greater than a preset speed threshold, if so, executing S313, and if not, executing S312;

S312, judging whether the motion trail of the monitored equipment in a preset period spans an entity obstacle marked in advance on an entity map corresponding to the target area, if so, executing S313, and if not, continuing to calculate the motion trail and the average speed of the monitored equipment;

S313, judging whether the current starting time length of the monitored equipment is within a preset starting time length threshold value, and whether the monitored equipment has no voice call record in the past preset time length threshold value, if so, executing S314, and if not, continuously calculating the motion trail and the average speed of the monitored equipment;

S314, judging that the monitored equipment is the internet-connected unmanned aerial vehicle.

It should be noted that, because it is easier and faster to determine whether the average speed of the monitored device in the preset period is greater than the preset speed threshold, and whether the motion track of the monitored device in the preset period spans the entity obstacle marked in advance on the entity map corresponding to the target area is relatively broken, in this embodiment, it is first determined whether the average speed of the monitored device in the preset period is greater than the preset speed threshold, and only when the average speed of the monitored device in the preset period is not greater than the preset speed threshold, it is further determined whether the motion track of the monitored device in the preset period spans the entity obstacle marked in advance on the entity map corresponding to the target area, thereby improving the recognition speed of the internet-connected unmanned aerial vehicle.

Specifically, since the average speed of the unmanned aerial vehicle is generally greater than 20km/h and the average speed of pedestrians with devices such as smart phones carrying 4G and 5G communication modules is generally less than 20km/h, in this embodiment, the preset speed threshold is set to 20km/h, that is, when the average speed of the monitored device is greater than 20km/h, the monitored device is primarily determined to be the internet-connected unmanned aerial vehicle, and then the current starting time and whether the monitored device has a voice call record are combined to further determine whether the monitored device is the internet-connected unmanned aerial vehicle.

Specifically, in this embodiment, for an entity obstacle that cannot be spanned by a non-unmanned plane such as a person or a vehicle in a target area, the entity obstacle may be marked on an entity map of the target area in advance, and in particular, the marking of the entity obstacle may be implemented by marking a coordinate range of the entity obstacle that cannot be spanned on the entity map in advance. Judging whether the motion trail of the monitored equipment spans the entity obstacle marked in advance on the entity map corresponding to the target area or not in the preset period, specifically, comparing the coordinates corresponding to the motion trail with the coordinates of the entity obstacle marked in advance on the entity map, and judging that the motion trail of the monitored equipment spans the entity obstacle marked in advance on the entity map corresponding to the target area in the preset period when the coordinates corresponding to the motion trail contain the coordinates of the entity obstacle marked in advance. In particular, the pre-labeled physical obstacles on the physical map may include, but are not limited to, rivers, roads, buildings, hills, forests, factories, and/or borders.

Specifically, because the network-connected unmanned aerial vehicle is generally powered by a battery, and the duration of normal use is generally within 2 hours, meanwhile, the SIM card for cellular network communication carried by the network-connected unmanned aerial vehicle is generally free of voice call function, or the use frequency of the voice call function is lower than that of 4G and 5G network using equipment such as a mobile phone, etc., in the embodiment, the preset starting time duration threshold is set to 2 hours, the past preset time duration threshold is set to 10 days, namely, the starting time is within 2 hours, and the preliminary judgment of no voice call record in the past 10 days is the monitored equipment of the network-connected unmanned aerial vehicle, and the network-connected unmanned aerial vehicle is directly judged.

Based on the above embodiment, in another embodiment, determining whether the monitored device is a network-connected unmanned aerial vehicle based on the motion trail, the average speed, the current startup time information and the historical voice call information includes:

b1, judging whether the current startup time of the monitored equipment is within a preset startup time threshold based on the current startup time information, judging whether the monitored equipment has a voice call record within a past preset time threshold based on the historical voice call information, and executing b2 when the current startup time of the monitored equipment is within the preset startup time threshold and no voice call record is within the past preset time threshold;

b2, judging whether the motion trail of the monitored equipment in a preset period spans an entity obstacle marked in advance on an entity map corresponding to the target area or judging whether the average speed of the monitored equipment in the preset period is greater than a preset speed threshold value;

and b3, if the motion trail spans an entity obstacle marked in advance on an entity map corresponding to the target area or the average speed is greater than a preset speed threshold, judging that the monitored equipment is the network-connected unmanned aerial vehicle.

As shown in fig. 3, the network-connected unmanned aerial vehicle judging process in this embodiment may specifically perform the judgment according to the following procedure:

s321, judging whether the current starting time length of the monitored equipment is within a preset starting time length threshold value, if so, executing S322, and if not, continuously calculating the starting time length of the monitored equipment; specifically, the step of continuously calculating the boot time of the monitored device may be continuously calculating the boot time of the current monitored device, or may be continuously calculating the boot time of all devices in the device information table of the device interacting with the base station in a polling manner.

S322, judging whether the monitored equipment has voice call records in the past preset duration threshold, if not, executing S323, and if so, continuously calculating the starting duration of the next monitored equipment;

s323, judging whether the average speed of the monitored equipment in the preset period is greater than a preset speed threshold, if so, executing S325, and if not, executing S324;

S324, judging whether the motion trail of the monitored equipment in the preset period spans the entity obstacle marked in advance on the entity map corresponding to the target area, if so, executing S325, and if not, continuing to calculate the starting-up time of the next monitored equipment.

S325, judging that the monitored equipment is the Internet-connected unmanned aerial vehicle.

In the network connection unmanned aerial vehicle judging process shown in fig. 2 of the previous embodiment, the motion track and the average speed of the monitored equipment need to be calculated first, when the number of the monitored equipment is large, the resource requirement of the method for the server side is high, and in order to solve the problem, the network connection unmanned aerial vehicle judging process shown in fig. 3 of the present embodiment can be adopted.

Because the operator base station side maintains the equipment information table of the equipment interacting with the base station, in this embodiment, the operator background management system may first search the startup time of each monitored equipment based on the equipment information table of the equipment interacting with the base station, does not perform any supervision on the monitored equipment whose startup time exceeds the preset startup time threshold, searches whether the monitored equipment whose startup time does not exceed the preset startup time threshold has voice call records in the past preset time threshold, if so, filters out the equipment, and mainly monitors the monitored equipment which has no call records in the past preset time threshold, and then determines whether the monitored equipment has an average speed greater than the preset speed threshold in the preset time period and whether the movement track of the monitored equipment spans the entity map corresponding to the target area.

The setting method of each threshold in the embodiment shown in fig. 2 is the same, and will not be described here.

On the basis of the above embodiments, in one embodiment, determining the movement track and the average speed of the monitored device in communication with the operator base station in the target area in the preset period includes:

Based on RSSI signal values of the monitored equipment received by a plurality of operator base stations in a target area at a plurality of time points in a preset period, positioning the positions of the monitored equipment at the plurality of time points by using a tri-positioning method to obtain position coordinates of the monitored equipment at the plurality of time points,

Wherein, the first time point in the plurality of time points is a time starting point in a preset period, and the last time point in the plurality of time points is a time ending point in the preset period;

Sequentially connecting the position coordinates of the monitored equipment at a plurality of time points according to the time sequence to obtain the motion trail of the monitored equipment in a preset period;

and obtaining the average speed of the monitored equipment in the preset period based on the distance corresponding to the motion trail and the duration between the first time point and the last time point in the multiple time points.

When the operator base station is installed, the operator base station has very accurate longitude and latitude information, and the antenna also has information such as hanging height, azimuth angle and the like. In this embodiment, the position of the monitored device is calculated by using the information such as latitude and longitude of the base station and the hanging height of the antenna through the monitored device (S in fig. 4) and the signal value of the RSSI (RECEIVED SIGNAL STRENGTH Indication of received signal strength) of the base station in the target area, and using the triangulation algorithm shown in fig. 4. The monitored equipment receives signals from different base stations, signal attenuation of different degrees is caused because of different transmission distances, the distance between the receiving end and each base station can be calculated according to the received signal attenuation degree, and then the position coordinates of the monitored equipment can be calculated according to a triangular positioning formula.

During calculation, according to the RSSI signal value of the monitored equipment received by the base station and the characteristics of signal attenuation in the air, the distances between the operator base stations AP1, AP2 and AP3 which are in communication with the monitored equipment at each time point and the monitored equipment S are respectively d1, d2 and d3. And drawing circles by taking AP1, AP2 and AP3 as circle centers and taking d1, d2 and d3 as radiuses, wherein the intersection point of the three circles is the position of the monitored equipment S.

If the actual hanging heights h1, h2 and h3 of the antennas are considered, three spherical surfaces can be calculated, and the intersection points of the three spherical surfaces are the positions of the monitored equipment S.

Based on the above embodiments, in one embodiment, based on RSSI signal values of a monitored device received by a plurality of operator base stations in a target area at a plurality of time points in a preset period, locating positions of the monitored device at the plurality of time points by using a tri-fix locating method, obtaining location coordinates of the monitored device at the plurality of time points includes:

c1, acquiring RSSI signal values of monitored equipment received by a plurality of operator base stations in a target area of each time point in a plurality of time points;

c2, sequentially sequencing RSSI signal values of monitored equipment received by a plurality of operator base stations in a target area of each time point in order from big to small;

c3, selecting 5 operator base stations with strongest RSSI signals from a plurality of operator base stations in the target area of each time point based on the ordering;

In the algorithm described in this embodiment, when the monitored device communicates with multiple base stations at time t, firstly, RSSI signal values of the monitored devices received by the participating communication base stations are sequentially ordered from high to low, and the sequence numbers are: AP1, AP2, AP3, AP4. When the position coordinates of the monitored equipment are calculated by using a triangular positioning algorithm, five base stations (AP 1-AP 5) with strongest signals can be selected for calculation to obtain the position information of the monitored equipment. The process of positioning the monitored equipment based on the triangulation positioning method by using the five base stations with the strongest signals is as follows:

The first step: selecting an AP1, an AP2 and an AP3 for calculation to obtain a first initial position S1 (t, x1, y 1);

a second part: selecting an AP1, an AP2 and an AP4 for calculation to obtain a second initial position S2 (t, x2, y 2);

And a third step of: selecting an AP1, an AP2 and an AP5 for calculation to obtain a third initial position S3 (t, x3, y 3);

Finally, the gravity center of the triangle formed by S1, S2 and S3 is calculated to obtain the corrected position S (t, x, y) of the monitored equipment,

Wherein:

x＝1/3(x1+x2+x3)

y＝1/3(y1+y2+y3)

Through the above procedure, the position S (t, x, y) of the monitored device at the time t is obtained. Similarly, the monitoring time of t1 and t2 can be obtained by the above procedure, and the positions S1 (t 1, x1, y 1) and S2 (t 2, x2, y 2) of the monitored device can be obtained. Similarly, the time tn, the location Sn (tn, xn, yn) of the monitored device can be obtained; and then the motion trail of the monitored equipment is obtained, and the average speed in different time ranges can be calculated.

Based on the foregoing embodiments, in one embodiment, obtaining the current startup time information and the historical voice call information of the monitored device includes:

Searching the current startup time information and the historical voice call information of the monitored equipment in the background management system of the operator based on the SIM card identification of the monitored equipment.

On the basis of the above embodiments, in one embodiment, performing, by an operator, control on the network-connected unmanned aerial vehicle includes:

And cutting off a communication link between the network connection unmanned aerial vehicle and an operator base station in a target area through an operator background management system so as to realize management and control of the network connection unmanned aerial vehicle.

As shown in fig. 5, an embodiment of the present application provides an internet-connected unmanned aerial vehicle identification and management and control system, which may include:

a track and speed determining module 201, configured to determine a motion track and an average speed of a monitored device in communication with an operator base station in a target area within a preset period, where the preset period is a period of time before a period termination time with a current time;

the information acquisition module 202 is configured to acquire current startup time information and historical voice call information of the monitored device;

the network-connected unmanned aerial vehicle judging module 203 is configured to judge whether the monitored device is a network-connected unmanned aerial vehicle based on the motion trail, the average speed, the current startup time information and the historical voice call information;

the network-connected unmanned aerial vehicle management and control module 204 is configured to manage and control the network-connected unmanned aerial vehicle through an operator when the monitored device is determined to be the network-connected unmanned aerial vehicle.

Based on the above embodiments, in one embodiment, the network-connected unmanned aerial vehicle determining module 203 is specifically configured to:

Based on the above embodiment, in another embodiment, the network-connected unmanned aerial vehicle judging module 203 is specifically configured to:

On the basis of the above embodiments, in one embodiment, when the track and speed determining module performs determining the motion track and average speed of the monitored device in communication with the operator base station in the target area in a preset period, the track and speed determining module is specifically configured to:

Based on the above embodiments, in one embodiment, the information obtaining module 202 is specifically configured to:

Based on the above embodiments, in one embodiment, the network-connected drone management module 204 is specifically configured to:

It should be noted that, the network-connected unmanned aerial vehicle recognition and management and control system in the above embodiment has the same working principle and technical effect as the network-connected unmanned aerial vehicle recognition and management and control method in the above embodiment, and will not be described in detail herein.

As shown in fig. 6, an embodiment of the present application provides an electronic device 3, where the electronic device 3 includes a memory 301, a processor 302, and a computer program 303 stored in the memory 301 and executable on the processor 302, and the steps of the network-connected unmanned aerial vehicle recognition and control method according to the above-mentioned method embodiment of the present application are implemented when the processor 302 executes the computer program 303.

Specifically, the electronic device 3 may be an intelligent device such as an industrial personal computer, a PC, or an intelligent mobile terminal, which includes a memory and a processor, or may be a computer component such as a CPU or a GPU, which includes a memory and a processor.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the network connection unmanned aerial vehicle identification and management control method according to the method embodiment of the application when being executed by a processor.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The network connection unmanned aerial vehicle identification and control method is characterized by comprising the following steps of:

when the monitored equipment is judged to be the network-connected unmanned aerial vehicle, the network-connected unmanned aerial vehicle is controlled by an operator;

wherein,

The determining the motion track and the average speed of the monitored equipment communicated with the operator base station in the target area in the preset period comprises the following steps:

The step of positioning the positions of the monitored equipment at the plurality of time points by using a trimodal positioning method based on the RSSI signal values of the monitored equipment received by the plurality of operation Shang Ji stations in the target area at the plurality of time points in the preset period, and the step of obtaining the position coordinates of the monitored equipment at the plurality of time points comprises the following steps:

2. The method for identifying and controlling an internet-connected unmanned aerial vehicle according to claim 1, wherein the determining whether the monitored device is an internet-connected unmanned aerial vehicle based on the motion trail, the average speed, the current startup time information and the historical voice call information comprises:

3. The method for identifying and controlling an internet-connected unmanned aerial vehicle according to claim 1, wherein the determining whether the monitored device is an internet-connected unmanned aerial vehicle based on the motion trail, the average speed, the current startup time information and the historical voice call information comprises:

4. A method of identifying and controlling an online unmanned aerial vehicle according to any of claims 1 to 3, wherein determining the movement track and average speed of a monitored device in communication with an operator base station in a target area over a predetermined period of time further comprises:

After the position coordinates of the monitored equipment at the plurality of time points are obtained, sequentially connecting the position coordinates of the monitored equipment at the plurality of time points according to a time sequence to obtain the motion trail of the monitored equipment in a preset period;

5. The method for identifying and controlling an internet-connected unmanned aerial vehicle according to claim 1, wherein the obtaining the current startup time information and the historical voice call information of the monitored device comprises:

6. The method of identifying and controlling an online unmanned aerial vehicle according to any of claims 1 to 3, 5, wherein the controlling the online unmanned aerial vehicle by an operator comprises:

7. An internet-connected unmanned aerial vehicle recognition and control system, the system comprising:

The network connection unmanned aerial vehicle management and control module is used for managing and controlling the network connection unmanned aerial vehicle through an operator when the monitored equipment is judged to be the network connection unmanned aerial vehicle;

wherein,

8. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the networked unmanned aerial vehicle identification and management method of any of claims 1-6 when the computer program is executed.

9. A computer-readable storage medium, characterized in that it stores a computer program, which, when executed by a processor, implements the steps of the network-connected drone identification and management method according to any one of claims 1 to 6.