KR20220164265A - Method, System and Program of Drone Control, Pilot Certification and Drone Identification - Google Patents

Abstract

The present invention relates to a method, system, and program for drone control, pilot authentication, and drone identification. The present invention relates to a system including: a user authentication means for requesting user authentication by generating a one-time access code for user authentication, wherein the user authentication means includes an application or an authentication card; a controller which generates a control signal including a virtual code in a command after performing the user authentication based on the one-time access code, and transmits it to a drone; the drone driving based on the received control signal and transmitting image information and current location information to the controller; and an air traffic control center which receives the current location information of the drone, the one-time access code, and the control signal from the controller.

Description

Drone control, pilot certification and drone identification method, system and program {Method, System and Program of Drone Control, Pilot Certification and Drone Identification}

The present invention relates to a method, system, and program for drone control, pilot authentication, and drone identification.

Recently, as unmanned aerial vehicle (drone) technology develops, the use of unmanned aerial vehicles in the service industry is increasing.

A separate control device is used to control the unmanned air vehicle, and control may be performed through a wireless communication signal between the control device and the unmanned air vehicle.

However, when a specific command for controlling an unmanned aerial vehicle is simply converted into a code and transmitted, another person can easily check the command code for the control device.

Accordingly, it is possible to control the controller by transmitting the same command using the same wireless communication signal (eg, RF signal of the same frequency when the control signal is transmitted as an RF signal).

That is, a situation arises in which the control right for the control device is stolen by another person.

On the other hand, if there is an unmanned aerial vehicle in the path of an airplane in an air traffic control center that executes air traffic control, there is no way to control it, and it is impossible to determine whether the unmanned aerial vehicle is a licensed unmanned aerial vehicle or not.

Accordingly, there is a need for a method for preventing an unauthorized person from controlling the unmanned aerial vehicle and determining whether the unmanned aerial vehicle is permitted by an air traffic control center.

In order to solve the above problems, the present invention authenticates a user who controls a drone, and when a control signal for controlling a drone is generated in a controller, a virtual code may be included in a command and transmitted.

In addition, in the present invention, the controller may receive GPS data from the drone and transmit the received GPS signal, user identification OTAC, and control signal OTAC to the air traffic control center.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

User authentication means for requesting user authentication by generating a one-time access code for user authentication according to the present invention for solving the above problems - the user authentication means includes an application or an authentication card -, the one-time access code After performing user authentication based on, the controller generates a control signal including a virtual code in a command and transmits it to the drone, and the controller drives based on the received control signal and transmits image information and current location information to the controller and an air traffic control center that receives the current location information of the drone, the one-time access code, and a control signal from the drone and the controller.

Here, the air traffic control center may determine whether the user is an authenticated user based on the current location information, the one-time access code, and the control signal, and determine whether the drone is driven in accordance with the control signal. .

In addition to this, another method for implementing the present invention, another system, and a computer readable recording medium recording a computer program for executing the method may be further provided.

According to the present invention as described above, the present invention authenticates the user who controls the drone, and when the controller generates a control signal for controlling the drone, the controller includes a virtual code in the command and transmits the controller and the drone matched with the drone. There is an effect of preventing control by other devices.

In addition, the present invention receives GPS data from the drone in the controller and transmits the received GPS signal, user identification OTAC, and control signal OTAC to the air traffic control center, so that the air traffic control center can determine whether the unmanned aerial vehicle is permitted. It can, and there is an effect that can control it.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a diagram illustrating a system 1 for controlling a drone according to the present invention.
2 is a schematic block diagram of a controller 10 for controlling a drone according to the present invention.
3 is a diagram for explaining that user authentication is performed through an application 21 installed in a user terminal among user authentication means 20 according to the present invention.
Figure 4 is a diagram for explaining the user authentication through the authentication card 22 of the user authentication means 20 according to the present invention.
5 is a diagram for schematically explaining the drone 30 according to the present invention.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, only these embodiments are intended to complete the disclosure of the present invention, and are common in the art to which the present invention belongs. It is provided to fully inform the person skilled in the art of the scope of the invention, and the invention is only defined by the scope of the claims.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements. Like reference numerals throughout the specification refer to like elements, and “and/or” includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first element mentioned below may also be the second element within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Prior to the description, the meaning of the terms used in this specification will be briefly described. However, it should be noted that the description of terms is intended to help the understanding of the present specification, and is not used in the sense of limiting the technical spirit of the present invention unless explicitly described as limiting the present invention.

1 is a diagram illustrating a system 1 for controlling a drone 30 according to the present invention.

2 is a schematic block diagram of a controller 10 controlling a drone 30 according to the present invention.

3 is a diagram for explaining that user authentication is performed through an application 21 installed in a user terminal among user authentication means 20 according to the present invention.

Figure 4 is a diagram for explaining the user authentication through the authentication card 22 of the user authentication means 20 according to the present invention.

5 is a diagram for schematically explaining the drone 30 according to the present invention.

Referring to FIGS. 1 to 5 , a system 1 for generating a model for a fetal image using the 3D printer 20 according to the present invention will be described.

The system 1 authenticates the user who controls the drone, and when the controller 10 generates a control signal for controlling the drone, the controller 10 matched with the drone is transmitted by including a virtual code in a command. It may have an effect of preventing control by devices other than and.

In addition, the system 1 receives GPS data from the drone 30 in the controller 10 and transmits the received GPS signal, user identification OTAC, and control signal OTAC to the air traffic control center 40, thereby controlling the air traffic The control center 40 can determine whether the unmanned aerial vehicle is permitted, and can have an effect of controlling it.

Here, the swIDch IFF code of FIG. 1 may include pilot identity information, a drone registered as friendly, the location of the drone, and the like.

System 1 enables secure communication with a one-time dynamic code for every selected time frame (e.g. every second), and an immediate 'affinity' assessment of the drone if either the pilot or the drone's security is compromised.

In addition, system 1 can help protect critical infrastructure (airports, factories, etc.) by identifying UAVs flying in airspace.

In addition, system 1 can prevent potential hijacking by securing commands (security) between the controller and the drone, and can safely share identification (IFF) information of small commercial drones flying in airport airspace.

The system 1 may include a controller 10 for controlling the drone 30, a user authentication means 20, a drone 30, an air traffic control center 40, and a communication network (not shown). . System 1 may include fewer or more components than those shown in FIG. 1 .

The controller 10 can generate three types of unique codes. Here, the three types of unique codes include user information (swIDch pilot ID) for identifying which pilot (hereinafter, user) is controlling the drone 30, swIDch Command for secure drone control command communication, and flight It may be drone information (swIDch IFF) for identifying that the drone 30 is a familiar and registered drone.

Here, user information and flying drone information can always be paired. Therefore, if the drone 30 is hacked, the user can release the pairing, so the drone 30 can be displayed on the airport radar system without becoming a friendly drone any more.

All communications to the radar (IFF and user information (pilot ID)) must always be encrypted and control commands can be hashed for radio frequency based communications. Here, the size of the control command may be less than 200 bytes.

The controller 10 can authenticate the user (pilot) through the user authentication means 10 and, if the authenticated user is correct, grant authority to control the drone 30.

Thereafter, the controller 10 may generate a control signal including a virtual code in the command so as not to be damaged by the hacking of the command and transmit it to the drone 30 .

The drone 30 may receive a control signal including the command and virtual code, extract the command, and be driven according to the command.

At this time, the drone 30 may transmit both current location information (GPS) and drone identification information to the controller 10 in real time or at a preset period. Alternatively, the drone 30 may transmit only current location information to the controller 10 . Alternatively, the drone 30 may broadcast drone identification information to the air traffic control center 40 .

First, when the controller 10 receives only the current location information (GPS) from the drone 30, the controller 10 generates drone identification information for the drone 30, and the current location information, drone identification information, and the user's identification code. It can be transmitted to the air traffic control center 40 together with.

Next, when the controller 10 receives the current location information (GPS) and drone identification information from the drone 30, the controller 10 transmits them together with the user's identification code to the air traffic control center 40 so as to determine which location. It can be determined whether it is an identification code for the drone 30.

Here, the identification code may be generated by a combination of a user authentication code (pilot authentication code) and a control code.

Accordingly, when the air traffic control center 40 receives the identification code, it can determine which user is controlling the drone 30 with the corresponding code, and it can be verified by comparing the movement of the drone 30 at the corresponding location. can

Hereinafter, each component of the system 1 will be described in detail.

First, the controller 10 can control the drone 30 by being connected to the drone 30 through wireless communication.

The controller 10 may include a first control module 110 and a first wireless communication module 120 . The controller 10 may be a device in which a program corresponding to the first control module 110 is embedded or a program or application corresponding to the first control module 110 is installed.

For example, the controller 10 may be a smart phone in which an application corresponding to the first control module 110 is installed or a wireless controller in which the first control module 110 is embedded.

On the other hand, in this specification, the controller 10 includes all of various devices capable of providing results to users by performing calculation processing. For example, the devices may be in the form of computers and mobile terminals. The computer may be in the form of a server receiving a request from a client and processing information. The mobile terminal includes a mobile phone, a smart phone, a personal digital assistants (PDA), a portable multimedia player (PMP), a navigation device, a notebook PC, a slate PC, a tablet PC, and an ultrabook. ), a wearable device (eg, a watch type terminal (smartwatch), a glass type terminal (smart glass), a head mounted display (HMD)), and the like may be included.

Referring to FIG. 3, the first control module 110, among the user authentication means 20, uses the application 21 installed in the user terminal to generate and log in the user's own ID and one-time access code, the ID and one-time access User authentication can be performed based on code.

Alternatively, referring to FIG. 4 , when the first control module 110 obtains authentication card data through the authentication card 22 of the user authentication means 20, user authentication is performed based on the authentication card data. can be done

In one embodiment, the card for authentication 22 is a blank card containing card data for authentication and can be used only when user authentication is required for security. Upon user authentication, the authentication card 22 provides authentication card data to the controller 10 so that a virtual code for authentication can be generated by a dedicated program built into or installed in the controller 10 .

The first control module 110 may serve to generate virtual code including information for the drone 30 to search for commands. That is, the first control module 110 generates a virtual code according to the virtual code generating function.

The first control module 110 may play a role of generating a virtual code according to a control command input from a user.

For example, the first control module 110 may include a user command receiver 111, a virtual code generator 112, and a detailed code generator 113.

The virtual code generator 112 may play a role of generating a virtual code by combining one or more detailed codes. Here, the virtual code may be generated by combining a plurality of detailed codes according to a specific rule.

The virtual code generating function may include all or part of the detailed code generating function and the detailed code combining function. The detailed code combining function may be a rule for combining a plurality of detailed codes. Various methods may be applied as a method of generating one virtual code by combining a plurality of detailed codes.

As an example of the detailed code combining function, the virtual code generator 112 may generate a virtual code by alternately arranging an N-digit first code and an N-digit second code.

Also, as another example, the detailed code combination function may be a function that combines a second code after the first code. As the number of detailed codes included in the virtual function increases, the detailed code combination function can also be created in various ways.

The detailed code generator 113 serves to generate one or more detailed codes. The virtual code generating function may include each detailed code generating function.

For example, the virtual code generating function may generate a plurality of detailed codes using a plurality of detailed code generating functions, and generate a virtual code using a detailed code combining function combining the plurality of detailed codes.

For example, the detailed code generating unit 113 may generate a first code and a second code by including a first function and a second function as the detailed code generating function.

Here, the first code and the second code have a correlation for searching the storage location of the command within the drone 30, but the control signal generating means has a first function for generating the first code and a second code for increasing security. The second function for generating two codes may be included as the detailed code generating function, and data for correlation between the first code and the second code may not be included.

Also, for example, when the virtual code is generated by combining the first code and the second code according to a specific rule, the first code and the second code may play respective roles for searching for a storage location where a command is stored. there is.

For example, the first code may set a starting point of the storage location search, and the second code may set a search path from the starting point to the storage location according to a specific search method.

That is, when the control signal generating unit provides a normally generated virtual code for each unit count, the drone 30 moves from the search start point corresponding to the first code along the search path corresponding to the second code to the command. It can be judged by the storage location.

As an example of how the detailed code generator 113 generates a detailed code, the detailed code generator 113 generates a new detailed code for each unit count, and accordingly, the control signal generator generates a new virtual code for each unit count. can create Virtual codes newly generated for each unit count may not be duplicated.

Specifically, the detailed code generator 113 prevents the virtual code newly generated for each unit count from being duplicated for a specific user or specific control signal generating means for a predetermined period of time, and also from being duplicated among users belonging to a specific group. It can be set not to.

As a specific example of preventing duplicate virtual codes, when generating the first code or the second code of N digits with M characters, the detailed code generating function included in the virtual code generating function generates MN codes. It can be generated with the first code or the second code, and each code can be matched for each count from the initial point in time when the detailed code generation function is driven.

For example, when the unit count is set to 1 second, different MN codes can be matched every second from the time when the detailed code generating function is first driven.

In addition, if the period of using a specific detailed code generation function is set to a time length shorter than the time length corresponding to the MN count (eg, MN seconds when 1 count is 1 second), the first code or the second code is used During this process, the same code may not be duplicated.

That is, when the count increases as time passes and the user requests the control signal generating unit to generate a virtual code at a specific point in time, the control signal generating unit converts the code value matched to the count corresponding to the specific point in time into the first It can be generated by code or second code.

As another specific example of preventing redundant virtual code generation, when the use cycle of the virtual code generating function elapses, the function generating the first code or the second code (ie, the first function or the second function) is changed or the first function is not generated. A matching relationship between the code and the second code may be changed so that a virtual code different from a previous use cycle may be generated.

When the virtual code is a combination of the first code generated by the first function and the second code generated by the second function, if the first code generating function or the second code generating function is changed, the control signal generating means As the order in which the first code or the second code appears differs from the previous usage period, a virtual code generation function that generates a virtual code different from the previous period may be applied to the new usage period.

In addition, the control signal generating means prevents the same code as the virtual code used in the previous usage period from appearing as a virtual code of each count in a new usage period (that is, the first code and the second function generated according to the first function) The first function and the second function may be selected so that the matching relation of the second code generated according to the above is not included among the matching relations included in the previous usage period in all counts of the new usage period.

That is, after the usage cycle in which MN codes can be applied once has elapsed, the virtual code generating function of the new usage cycle in which no virtual code overlapping with the previous usage cycle is not generated can be applied by adjusting or updating the virtual code generating function. there is.

At this time, the first control module 110 and the drone 30 may store rules for updating the virtual code generating function. That is, the first control module 110 and the drone 30 may store an order or rule for applying a plurality of first functions and second functions to each use period.

In addition, as another specific example of preventing the duplicate creation of virtual codes, any one of the first code or the second code included in the virtual code is at least the same for each instruction so that the same virtual code is not generated at the same time for different instructions. It can be created by reflecting a value (ie, a command-specific value) that always exists differently in .

For example, the unique command value is a unit count or time point corresponding to the storage location where each command is stored during initial setting between the specific drone 30 and the control signal generating means (for example, a specific storage location within the drone 30). It may be the time (or the number of counts) that has elapsed from the time when a specific command was stored after a specific time elapsed from the initial point in time when the search algorithm was driven and the detailed code generating function for the specific command started to be applied) to the present.

In the case of including a plurality of commands for one drone 30, if the counts matching each command are not the same (ie, if several commands are not stored at the same location or time point on the storage location search algorithm), the command The elapsed time from the matched time (or count) to the time the user inputs the command may be different for each command.

Therefore, at least one of the detailed code generating functions uses the time elapsed from the time (or count) when the command is stored in the storage location search algorithm to a specific point in time as a command-specific value, and each control signal generating means for each point in time The virtual codes generated in may be different.

Through this, it is possible for the drone 30 to distinguish the control signal generating means only by receiving the virtual code without separately receiving data for distinguishing the user.

For example, commands that can be selected by a user's manipulation in the first control module 110 may include ascending, descending, moving forward, backward, etc. for manipulating the drone 30 . Commands for the drone 30 are set as one group, and commands in the virtual code may be searched by one storage location search algorithm included in the drone 30 .

The detailed code generation function can prevent the same virtual code from being generated at the same time point by applying the length of time that has elapsed from the point at which each command is stored in the storage location search algorithm as a variable.

In addition, the drone 30 can accurately recognize each command even if two commands are simultaneously received. The storage location search algorithm may be an algorithm in which a storage location matched with a current count is changed as the count elapses.

In addition, since the length of time that has elapsed from the time when a specific command matches a specific storage location in the storage location search algorithm continues to increase over time, the detailed code (eg, the second code) for the specific command is the same A value may not be generated and another value may continue to be generated.

In addition, as another specific example of preventing the duplicate creation of virtual codes, the first code drives the first function for a specific command within the drone 30 so that duplicate virtual codes are not generated regardless of the user in the entire cycle. From the initial point in time (for example, the time when the drone 30 and the control signal generating means are first interlocked, the time when the drone 30 is first driven after production, or the time of initialization), among the codes matched for each count, the request for generating a virtual code is The second code is set to a code value generated by reflecting the time elapsed from the time when the command is matched in the storage location search algorithm (i.e., the unique value of the command), and , the virtual code can be used as a code value in which the first code and the second code are combined.

Since the first code has a different code value for each count and the second code has a different code value for each instruction at the same time, the virtual code combining the first code and the second code is Different code values may be output.

As another example, the virtual code includes an instruction identification code for distinguishing instruction types. That is, when a specific command is input from the user, the virtual code generator 112 may extract a command identification code corresponding to the specific command and include it in the virtual code. When the drone 30 receives the virtual code, the command identification code can immediately identify a corresponding command.

After recognizing the command through the command identification code, the drone 30 can determine whether to input the command as a control command by verifying the virtual code based on detailed codes within the virtual code.

In addition, the command identification code may be coupled to a predetermined position within the virtual code. When a virtual code generation function is given for each command, the drone 30 must first extract a command identification code from the virtual code to be able to determine the command type.

Accordingly, the command identification code may be coupled to a predetermined position (eg, the first N digits of the virtual code) in the virtual code so as to be separable without a separate function.

If the virtual code includes a command identification code, in one embodiment, the drone 30 divides each command for a specific drone 30 into a separate group and assigns each command to a separate storage location search algorithm or virtual Using a code generation function, the first control module 110 transmits virtual codes including instruction identification codes corresponding to respective instructions.

Specifically, the virtual code generator 112 may generate a virtual code by adding a virtual security code generated based on an OTP function corresponding to a specific command to the command identification code.

After receiving the virtual code, the drone 30 may determine the command type using the command identification code and verify whether the virtual code is normally generated using the virtual security code.

In addition, the virtual code generator 112 generates a plurality of detailed codes (eg, first code and second code) that conform to the storage location search algorithm matched to the specific command identification code, and combines them with the command identification code. to generate virtual code.

That is, the drone 30 may individually drive the storage location search algorithm for each command.

Accordingly, the virtual code generating unit 112 may separately include a virtual code generating function for each command to correspond to an individual storage location search algorithm in the drone 30 .

Also, as another example, any one of a plurality of listing rules for arranging M characters in ascending order may be applied to the virtual code generating function (specifically, each detailed code generating function). That is, the control signal generating means (ie, the control signal generating module 100) may differently apply the rule of listing M characters in ascending order to the detailed code generating function for each drone 30 or each command. there is.

Specifically, a virtual code generation function to which different enumeration rules are applied may be applied for independent control of each device for each drone 30 (ie, each device having a different identification value), and the virtual code is a command identification code. In the case of including, a virtual code generation function to which different listing rules are applied may be applied according to each storage location search algorithm.

For example, a listing rule for listing the uppercase letters of the alphabet in ascending order would be A, B, C, ?? , can be in the order Z, A, C, B, ?? , may be in the Z order. As the listing rules are changed in the virtual code generating function, the order in which codes are matched sequentially to each count from the initial point in time when the virtual code generating function is driven may be different.

The drone 30 may match the codes generated according to the same enumeration rule to each count, or include the same enumeration rule itself in the virtual code generation function and store it.

Therefore, the virtual code generating function for each device or each command (when the virtual code includes the instruction identification code) includes a different detailed code combining function or a different character listing rule, so that each group has a different virtual code generating function. can be made to have

Also, the virtual code may include a virtual security code. For example, the virtual code may include one or more detailed codes and a virtual security code, or may include a virtual security code as a detailed code. The security code is a code generated based on a specific security code generating function, and can be used to verify whether it is a normal virtual code. The security code generating function may generate a security code of a specific digit by using time data and control signal generating means or a unique value of the drone 30 as a function value.

An example of a process of determining whether the virtual code is normal by using the virtual security code is as follows. During the initial setting, the drone 30 receives the unique value of the control signal generating means (eg, the unique value of the smart phone with the control application installed) and stores it together in the storage location of the command or in a separate storage location connected to the command storage location. can be stored in storage.

When the control signal generating unit generates a virtual code including a virtual security code and provides it to the drone 30, the drone 30 acquires time data when the virtual code was generated based on the detailed code, and a specific control signal stored therein. A unique value of the generating means is extracted and applied to a virtual security code generating function (eg, One-Time Password (OTP) function) together with time data to calculate a virtual security code. The drone 30 determines whether the virtual security code (ie, the received virtual security code) received from the control signal generating means matches the virtual security code (ie, the generated virtual security code) calculated by the virtual security code generation function stored therein. can judge

Since there may be a difference between the time at which the control signal generating means generates the virtual code and the time at which the drone 30 (200) receives the virtual code, the drone 30 (200) considers the time delay within a specific time range. Calculate the virtual security code (ie, OTP number) within (for example, from the time of receiving the virtual code to before a specific count), and check whether there is a value that matches the received virtual security code received from the control signal generating means Check. If the received virtual security code and the generated virtual security code match, the second control module 320 may determine the command as a control command by determining it as a normal virtual code.

In addition, as another example, the virtual security code generation function may generate a different l-digit (l is a natural number) code for each count and apply it together as a function value. That is, the virtual security code generating function may include a 1-digit random code generating function (eg, an OTP function generating an 1-digit code).

The first wireless communication module 120 serves to output the virtual code as a wireless communication signal to transmit to the drone 30. The first wireless communication module 120 may include various components capable of providing virtual codes to the outside. The first wireless communication module 120 may include all or part of a wireless Internet module, a local area communication module, and an RF signal module.

The first control module 110 may receive current location information (GPS) or image information of the drone 30 from the drone 30 in real time, at a preset period, or after transmitting the control signal.

The first control module 110 may transmit the received current location information of the drone 30 , the one-time access code, and a control signal to the air traffic control center 40 .

Referring to FIG. 5 , the drone 30 includes a second wireless communication module 310, a controller, and a sensor module.

The second wireless communication module 310 may serve to receive a wireless communication signal including a virtual control command from the controller 10 .

The sensor module serves to acquire sensing data for controlling the drone 30 . For example, the sensor module of the drone 30 may include a gyroscope, an acceleration sensor, a geomagnetic sensor, a GPS receiver, an air pressure sensor, and the like.

In addition, when a plurality of sensors are included in the sensor module, the sensor module further includes a sensor fusion device. The sensor fusion device uses state measurements obtained through a plurality of sensor data (eg, rotational motion state measurements obtained through a gyroscope, acceleration sensor, or geomagnetic sensor, translational motion state measurements obtained through a GPS receiver, and barometric pressure sensor). By convergence, a state estimation value of the drone 30 is calculated and transmitted to the controller.

The controller serves to calculate a control command to be provided to one or more driving units (eg, a motor) based on a virtual control command. The controller includes a second control module 320 that calculates an actual control command based on a virtual control command, a time measurement module 340 (CLOCK) that provides time data to the second control module 320, and a second control module 320. ) and a control command calculation module 330 that calculates a control command based on the actual control command transmitted from the sensor module and the state estimation value provided by the sensor module.

For example, the second control module 320 includes a detailed code extraction unit extracting one or more detailed codes from a virtual control command and a command search unit searching for an actual control command based on the detailed codes. In addition, the second control module 320 may further include a verification unit for verifying whether the virtual control command corresponds to one normally generated at the present time. A detailed description of each component in the previously described control module will be omitted.

The control command calculation module 330 receives an actual control command from the second control module 320 and a state estimate from the sensor module, and at least one driving unit for moving the drone 30 according to the control command requested from the user ( For example, an individual control command for a motor) is calculated. For example, the control command calculation module 330 reflects the state estimation obtained from the sensor module for stable movement when controlling each driving unit based on the actual control command. In addition, when a plurality of driving units are used, the control command calculation module 330 calculates the movement of individual driving units to achieve a control command, and then generates an individual control command for this purpose and transmits it to the driving units.

The second control module 320 may be inserted as a chip between the second wireless communication module 220 and the control command calculation module 330 and electrically connected, or the control command calculation module 330 may be embedded inside the chip. While being included as a software module, the virtual flight command received before the control command calculation module 330 may be pre-processed.

Through this, it is possible to apply a control method using a virtual control command without changing the basic structure and control process of the existing drone 30 . In addition, when the second control module 320 is included as software together with the chip including the control command calculation module 330, the weight of the drone 30 may not increase because no hardware configuration is added.

The second control module 320 transmits the current location information (GPS) of the drone 30 to the controller 10 through the second wireless communication module 220 at a preset period or when the control signal is received. can

The air traffic control center 40 executes air traffic control tasks and can obtain the current location information of the drone 30, the one-time access code, and control signals from the controller 10.

Thereafter, the air traffic control center 40 determines whether the user of the drone 30 is an authenticated user, and the drone 30 receives the control signal based on the current location information, the one-time access code, and the control signal. Based on this, you can determine if it is working properly.

6 is an exemplary view illustrating a system 1 for controlling a drone according to the present invention.

System 1 can securely access drone 30 through mobile app access management. Here, the system 1 can generate a one-time arbitrary code for secure access without a network.

In addition, the system 1 can perform software-based secure drone command communication between the controller 10 and the drone 30, and can use a one-time arbitrary code generated for drone command communication.

In addition, since the system 1 does not require hardware, the weight and power consumption of the drone 30 may not increase, and a long-distance communication range (~20 miles) can be guaranteed by radio frequency-based transmission.

In addition, the system 1 can reliably identify friendly drones in the airspace, immediately recognize whether a pilot or drone has been hacked, and evaluate the degree of risk.

7 and 8 are exemplary diagrams explaining weaknesses and vulnerabilities of existing drones.

Referring to FIGS. 7 and 8, conventional drones can interfere with and block data through wireless communication, are vulnerable to security due to lack of encryption, and thus can change routes through manipulation, and are vulnerable to malicious code infection. .

9 is a diagram showing hardware separately installed in a drone for AES encryption.

Existing drones do not have encryption technology, and military drones also use AES encryption, which requires additional hardware separately installed on the drone.

Here, AES encryption can be verified with CMVP which requires other additional hardware (image rights).

Additionally, the hardware is similar in size to a smartphone, which increases the weight of the drone, increases power consumption, may reduce battery life, and may be too large to fit into small, commercial drones.

10 is a diagram for explaining the advantages of a drone according to the present invention.

An advantage of the drone 30 according to the present invention is that the data for security commands must be less than 200 bytes using radio frequency communication, and at least 20 command codes can be transmitted per second.

In addition, dynamic secure communication is possible, there is no increase in drone weight, and no additional hardware is required.

In addition, it is possible to work based on the CMVP protocol for military drones.

11 is a diagram for explaining a necessary communication method for the system 1 according to the present invention.

In the system 1 according to the present invention, the encrypted data is too large (>200 bytes) to be transmitted via radio frequency (RF) and can only be transmitted via 5G. However, the transmission distance of 5G is too short (<0.6 miles).

Here, swIDch can send dynamic security commands over radio frequencies covering a much larger area (>20 miles).

12 is a diagram for explaining a conventional aircraft identification method.

First, the air traffic control center can send an interrogation signal to the aircraft via radar to automatically identify friend or foe (IFF). Next, the aircraft's transponder may respond with a set of pre-flight identification codes. Thereafter, the air traffic control center can confirm whether the aircraft is in a friendly state matching the pre-entered aircraft information to the location indicated on the radar.

FIG. 13 is a diagram for explaining limitations of conventional automatic identification (IFF) of friend or foe.

A limitation of friendly or hostile automatic identification (IFF) for UAVs is that current IFF methods require a transponder (hardware) on the aircraft. However, small commercial drones have limited physical space to install additional hardware. Also, the effectiveness of a drone depends on its weight and power consumption. And, there is no space for a transponder. Therefore, due to the above factors, there is no choice but to have an IFF function.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

Claims (2)

User authentication means for requesting user authentication by generating a one-time access code for user authentication, wherein the user authentication means includes an application or an authentication card;
After performing user authentication based on the one-time access code, a controller generates a control signal including a virtual code in a command and transmits it to the drone;
the drone driving based on the received control signal and transmitting image information and current location information to the controller; and
an air traffic control center that receives the current location information of the drone, the one-time access code, and a control signal from the controller;
Including, system. According to claim 1,
The air traffic control center,
Determine whether the user is an authenticated user based on the current location information, the one-time access code, and the control signal;
A system for determining whether the drone is driven according to the control signal.

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