WO2018006262A1 - 一种联网验证的方法及装置 - Google Patents

一种联网验证的方法及装置 Download PDF

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Publication number
WO2018006262A1
WO2018006262A1 PCT/CN2016/088561 CN2016088561W WO2018006262A1 WO 2018006262 A1 WO2018006262 A1 WO 2018006262A1 CN 2016088561 W CN2016088561 W CN 2016088561W WO 2018006262 A1 WO2018006262 A1 WO 2018006262A1
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WO
WIPO (PCT)
Prior art keywords
verification
time
flight
drone
real
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/088561
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English (en)
French (fr)
Inventor
张国防
于云
石仁利
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201680009555.XA priority Critical patent/CN107295811B/zh
Priority to PCT/CN2016/088561 priority patent/WO2018006262A1/zh
Publication of WO2018006262A1 publication Critical patent/WO2018006262A1/zh
Anticipated expiration legal-status Critical
Priority to US16/241,149 priority patent/US11104435B2/en
Priority to US17/461,448 priority patent/US20210387725A1/en
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/59—Navigation or guidance aids in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/12—Applying verification of the received information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/30—Network architectures or network communication protocols for network security for supporting lawful interception, monitoring or retaining of communications or communication related information
    • H04L63/302—Network architectures or network communication protocols for network security for supporting lawful interception, monitoring or retaining of communications or communication related information gathering intelligence information for situation awareness or reconnaissance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/12—Applying verification of the received information
    • H04L63/123—Applying verification of the received information received data contents, e.g. message integrity

Definitions

  • the present invention relates to the field of verification, and in particular, to a method and device for networked verification.
  • Embodiments of the present invention provide a method and apparatus for networked authentication to reduce security risks during operation of a drone.
  • a first aspect of the present invention provides a network authentication method, including:
  • Flight adaptive verification of the UAV system includes at least one of the following: UAV system configuration, or data configuration related to safe operation for flight adaptive verification;
  • the disposal measures of the drone system are determined based on the verification results.
  • the UAS system configuration includes at least one of the following: a drone firmware version, a ground station firmware version, or a remote controller firmware version, an operating parameter configuration.
  • the data configuration related to the security operation includes at least one of the following databases: a long term flight database, a temporary flight limited database, a navigation database, and a flight management database.
  • the verification item further includes at least one of the following: an unmanned organization type, Whether the man-machine model, the drone system is blacklisted, and whether the operator is blacklisted.
  • the performing the aircraft adaptability verification including: The drone system performs flight adaptive verification.
  • the periodically performing flight adaptation verification on the UAV includes: acquiring real-time time information of the UAV system, The real-time time information is compared with the last verification time, and when the time interval between the real-time time information and the last verification time exceeds a preset time interval, flight adaptive verification is performed on the unmanned aerial vehicle system.
  • System flight suitability verification including:
  • Each verification item corresponds to a preset time interval, and when the time interval between the real-time time information and the last verification time exceeds a preset time interval corresponding to the verification item, the verification item is verified; or
  • the N verification items correspond to a preset time interval, when the time interval between the real-time time information and the last verification time exceeds a preset time interval corresponding to the N verification items At the time, the N verification items are verified, wherein N is greater than or equal to 2.
  • the acquiring real-time time information of the UAV system includes: using a satellite positioning navigation system, a mobile communication base station, and Wi Real time information of the UAV system is acquired by at least one of a -Fi, a public network, or a timer in the drone system.
  • the satellite positioning navigation system includes at least one of the following systems: Global Positioning System GPS, Beidou navigation system, Global Navigation Satellite System GLONASS, the Indian regional navigation system, or the Galileo navigation system.
  • the performing the UAV flight adaptive verification periodically includes: obtaining real-time time information of the UAV system and real-time Positioning information; comparing the real-time time information with the last verification time to obtain a time interval between the real-time time information and the last verification time; determining the verification item to be verified according to the time interval and the real-time location information Performing flight suitability verification on the determined verification item requiring verification.
  • the determining, according to the verification result, the disposal measure of the UAV system including:
  • the verification result takes at least one of the following measures for the UAV system: flight restriction, no-fly, alarm, forced upgrade firmware, forced upgrade database, forced upgrade hardware, limited operator or user type, or forced return .
  • the limiting flight includes at least one of the following: a limit height, a limit, and an additional specific area Domain limited flight, speed limit, limited flight time or limited flight times, limited control mode, limited configuration configuration.
  • the defining the time-of-flight or limiting the number of flights includes: displaying the remaining flight time or number of times in the visualized ground station .
  • the method further includes: passing the verification result by a status indication At least one of a light, sound and/or voice prompt, tactile cues, or a user warning indicator module in the visual ground station informs the flight crew whether the current drone system status is appropriate for the flight.
  • the method further includes: verifying according to the needs of the drone and the ground station And an item of determining a redundancy verification item between the drone and the ground station, the last verification time of the drone to the redundant verification item and the last time the ground station is to the redundant verification item The verification time is compared and analyzed to determine the latest verification result of the redundant verification item.
  • a second aspect of the present invention provides a networked authentication apparatus, including:
  • a verification module for flight adaptive verification of the drone system comprising at least one of the following: a drone system configuration, or a data configuration related to safe operation;
  • a disposal module configured to determine a disposal measure of the unmanned aerial vehicle system according to the verification result.
  • the UAV system configuration includes at least one of the following: a drone firmware version, a ground station firmware version, Remote firmware version, or operating parameter configuration.
  • the data configuration love related to the security operation includes at least one of the following databases: Term flight database, temporary flight limited database, navigation database, flight management database.
  • the verification item further includes at least one of the following: Whether the unmanned organization, drone model, and drone system are blacklisted, or whether the operator is blacklisted.
  • the verification module is specifically configured to periodically The system performs flight adaptive verification.
  • the verification module includes an acquiring unit and a verification unit
  • the obtaining unit is configured to acquire real-time time information of the UAV system
  • the verification unit is configured to compare the real-time time information with the last verification time, and perform flight adaptation on the UAV system when the time interval between the real-time time information and the last verification time exceeds a preset time interval. Sexual verification.
  • the verification unit is specifically configured to: each verification item respectively corresponds to a preset time interval, when When the time interval between the real-time time information and the last verification time of the verification item exceeds the preset time interval corresponding to the verification item, the verification item is performed. Verifying; or, the N verification items correspond to the same preset time interval, when the time interval between the real-time time information and the last verification time of the N verification items exceeds a preset time interval corresponding to the N verification items And verifying the N verification items, where N is greater than or equal to 2.
  • the acquiring unit is specifically configured to use a satellite positioning navigation system, a mobile communication base station, a Wi-Fi, and a public network. Or at least one of the timers in the drone system to obtain real-time time information of the drone system.
  • the satellite positioning navigation system includes at least one of the following systems: a global positioning system GPS, a Beidou navigation system, Global navigation satellite system GLONASS, Indian regional navigation system, or Galileo navigation system.
  • the verification module includes an acquiring unit and a verification unit, and the acquiring unit is configured to acquire the unmanned Real time information and real-time location information of the machine system; the verification unit is configured to compare the real-time time information with the last verification time, and obtain a time interval between the real-time time information and the last verification time, according to the The time interval and the real-time location information determine a verification item that needs to be verified, and perform flight suitability verification on the determined verification item that needs to be verified.
  • the processing module is specifically configured to use, according to the verification result, Take at least one of the following measures for the drone: limited flight, No-fly, alarm, forced upgrade firmware, forced upgrade database, forced upgrade hardware, limited operator or user type, or mandatory return to factory.
  • the limiting flight includes at least one of the following: a limit, a limit, and an additional Regional limited flight, speed limit, limited flight time or limited flight times, limited control mode, limited configuration configuration.
  • the defining the time-of-flight or limiting the number of flights includes: displaying the remaining in the visible ground station Flight time or number of times.
  • the device further includes a notification module,
  • the verification result informs the flight crew whether the current UAV system status is applicable by at least one of a status indicator, an audible and/or voice prompt, a tactile design prompt, or a user warning indication indicator in the visual ground station. In this flight.
  • the apparatus further includes a redundancy culling module, Determining a redundancy verification item between the drone and the ground station according to the item to be verified by the drone and the ground station, and verifying the last verification time of the drone to the redundant verification item and the ground station Performing a comparative analysis on the last verification time of the redundant verification item to determine the latest verification result of the redundant verification item.
  • a third aspect of the present invention provides a drone system including a drone and a ground station, A networked verification device according to any one of the fourteenth possible implementations of the second aspect to the second aspect, the device being deployed on the drone, or the ground Station, or third-party equipment.
  • the third party device comprises a server.
  • a fourth aspect of the present invention provides a storage medium for storing instructions for performing a networked verification method according to any one of the possible implementations of the fourteenth possible implementation manner of the first aspect to the first aspect A step of.
  • the embodiment of the invention provides a method and device for verifying the UAV network, and the flight adaptability verification is performed on the UAV system.
  • the verification project includes at least one of the following: a UAV system configuration, or a data configuration related to the safe operation. Carry out flight adaptive verification; determine the disposal measures of the drone system based on the verification results. Thereby, the UAV network verification is realized to reduce the safety risk during the operation of the drone.
  • FIG. 1 is a schematic diagram of a movable object 100 according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of verifying flight adaptability according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of another verification flight adaptability according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a method for verifying flight adaptability according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a verification flight adaptability device 500 according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another verification flight adaptability device 500 according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of another verification flight adaptability device 500 according to an embodiment of the present invention.
  • Embodiments of the present invention provide a method and apparatus for networked authentication, which implements drone network verification to ensure that the drone is at an acceptable level of security.
  • FIG. 1 is a schematic diagram of a movable object 100 according to an embodiment of the present invention.
  • the movable object 100 includes a carrier 102 and a load 104.
  • the movable object 100 is described as an aircraft, such description is not limiting, and any type of movable object is applicable. Those skilled in the art will appreciate that any of the embodiments described herein with respect to an aircraft system are applicable to any movable object (such as an unmanned aerial vehicle).
  • the load 104 can be located directly on the movable object 100 without the carrier 102 being required.
  • the movable object 100 can include a power mechanism 106, a sensing system 108, and a communication system 110.
  • the power mechanism 106 can include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles.
  • the rotating body of the power mechanism may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit.
  • a movable object can have one or more power mechanisms. All power mechanisms can be of the same type. Alternatively, one or more of the power mechanisms can be of different types.
  • the power mechanism 106 can be mounted to the movable object by suitable means, such as by a support member (such as a drive shaft).
  • the power mechanism 106 can be mounted at any suitable location on the movable object 100, such as a top end, a lower end, a front end, a rear end, a side, or any combination thereof.
  • the power mechanism 106 can cause the movable object to take off vertically from the surface, or land vertically on the surface without requiring any horizontal movement of the movable object 100 (eg, without taxiing on the runway).
  • the power mechanism 106 can allow the movable object 100 to hover in a preset position and/or direction in the air.
  • One or more of the power mechanisms 106 can be independent of other power mechanisms when controlled.
  • one or Multiple power mechanisms 106 can be simultaneously controlled.
  • the movable object 100 can have a plurality of horizontally rotating bodies to track the lifting and/or pushing of the target. The horizontally rotating body can be actuated to provide the ability of the movable object 100 to take off vertically, vertically, and spiral.
  • one or more of the horizontally rotating bodies may be rotated in a clockwise direction, while the other one or more of the horizontally rotating bodies may be rotated in a counterclockwise direction.
  • the number of rotating bodies rotating clockwise is the same as the number of rotating bodies rotating counterclockwise.
  • the rate of rotation of each of the horizontally rotating bodies can be varied independently to achieve lifting and/or pushing operations caused by each of the rotating bodies, thereby adjusting the spatial orientation, velocity and/or acceleration of the movable object 100 (eg, relative to Three degrees of freedom of rotation and translation).
  • Sensing system 108 may include one or more sensors to sense the spatial orientation, velocity, and/or acceleration of movable object 100 (eg, relative to rotation and translation of up to three degrees of freedom).
  • the one or more sensors include any of the sensors described above, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors.
  • Sensing data provided by sensing system 108 can be used to track the spatial orientation, velocity, and/or acceleration of target 100 (using suitable processing units and/or control units as described below).
  • the sensing system 108 can be used to acquire data of the environment of the movable object, such as climatic conditions, potential obstacles to be approached, location of geographic features, location of the man-made structure, and the like.
  • Communication system 110 is capable of communicating with terminal 112 having communication system 114 via wireless signal 116.
  • Communication systems 110, 114 may include any number of transmitters, receivers, and/or transceivers for wireless communication.
  • the communication can be one-way communication. This data can be sent from one direction.
  • one-way communication may include that only the movable object 100 transmits data to the terminal 112, or vice versa.
  • One or more transmitters of communication system 110 can transmit data to one or more receivers of communication system 112, and vice versa.
  • the communication may be two-way communication such that data may be transmitted between the movable object 100 and the terminal 112 in both directions.
  • Two-way communication includes one or more transmitters of communication system 110 that can transmit data to one or more receivers of communication system 114, and vice versa.
  • terminal 112 can provide control data to one or more of movable object 100, carrier 102, and load 104, and from one or more of movable object 100, carrier 102, and load 104.
  • Receive information such as the position and/or motion information of the movable object, carrier or load, load-sensing data, such as image data captured by the camera).
  • the terminal's control data may include instructions regarding position, motion, actuation, or control of the movable object, carrier, and/or load.
  • control data may result in a change in the position and/or orientation of the movable object (eg, by controlling the power mechanism 106) or a movement of the carrier relative to the movable object (eg, by control of the carrier 102).
  • Terminal control data can lead to load control, such as controlling the operation of a camera or other image capture device (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure) Time, change the viewing angle or field of view).
  • the communication of the movable object, carrier, and/or load may include information from one or more sensors, such as sensing system 108 or load 104.
  • the communication may include from one or more different types of sensors (eg, GPS sensors, motion sensors, habits) Sensing information transmitted by a sensor, proximity sensor or image sensor.
  • the sensing information is about the position (eg, direction, position), motion, or acceleration of the movable object, the carrier, and/or the load.
  • the sensing information transmitted from the load includes the data captured by the load or the state of the load.
  • the control data provided by terminal 112 can be used to track the status of one or more of movable object 100, carrier 102, or load 104.
  • the carrier 102 and the load 104 may each include a communication module for communicating with the terminal 112 such that the terminal can individually communicate or track the movable object 100, the carrier 102, and the load 104.
  • the movable object 100 can communicate with other remote devices than the terminal 112, and the terminal 112 can also communicate with other remote devices than the movable object 100.
  • the movable object and/or terminal 112 can communicate with a carrier or load of another movable object or another movable object.
  • the additional remote device can be a second terminal or other computing device (such as a computer, desktop, tablet, smartphone, or other mobile device) when needed.
  • the remote device can transmit data to the movable object 100, receive data from the movable object 100, transmit data to the terminal 112, and/or receive data from the terminal 112.
  • the remote device can be connected to the Internet or other telecommunications network to upload data received from the mobile object 100 and/or terminal 112 to a website or server.
  • movement of the movable object, movement of the carrier, and movement of the load relative to a fixed reference (such as an external environment), and/or movements between each other may be controlled by the terminal.
  • the terminal may be a remote control terminal located remotely from the movable object, the carrier and/or the load.
  • the terminal can be located or affixed to the support platform.
  • the terminal can be handheld or wearable.
  • the terminal may include a smartphone, tablet, desktop, computer, glasses, gloves, helmet, microphone, or any combination thereof.
  • the terminal can include a user interface such as a keyboard, mouse, joystick, touch screen or display. Any suitable user input can interact with the terminal, such as manual input commands, sound control, gesture control, or position control (eg, by motion, position, or tilt of the terminal).
  • the "upgrade” described in the embodiments of the present invention includes firmware upgrades, all or part of database upgrades related to secure operations, hardware upgrades, and model upgrades.
  • the embodiment of the present invention compares time information and/or location information of the last upgrade or network verification with real-time time information and/or real-time location information by using real-time time information and/or real-time location information obtained by the external network, and can be imagined.
  • the time information is compared with the location information separately.
  • the UAV system will take measures such as flight limit, no-fly, alarm, and forced upgrade.
  • drones that are not suitable for flight, such as:
  • Unmanned aerial vehicle system is not connected for a long time: it is impossible to use the database related to safe operation (such as flight-deficient database, navigation database, etc.) in the UAV firmware version, ground control station firmware version, model, drone or ground station. Conduct applicability verification;
  • the drone is designed or manufactured incorrectly and cannot be corrected in time
  • Embodiments of the present invention provide a method of verifying flight suitability to ensure that the drone system is in an acceptable level of safety and/or airworthiness to achieve the following status:
  • an embodiment of the present invention provides a solution for verifying flight suitability.
  • the flight suitability verification module 251 including the server 205 and the flight of the ground station 202 are applicable.
  • the sensor 213 eg, GPS
  • a time and/or position information sensor 213 is provided, which may be a receiving sensor of a satellite positioning navigation system, and the satellite positioning navigation system includes at least one of the following: GPS, Beidou, Galileo, or a mobile phone communication such as a SIM card.
  • Network receiving sensors, or Internet receiving sensors such as wireless network cards, or public Wi-Fi receiving sensors; other methods can be used to obtain the required time and/or location information, such as providing independent power supply in drones or ground stations.
  • the device's timer provides time-limited time information, grabs the communication network provided in the phone, or provides time and location information in the Internet.
  • the status indicator can be replaced by a sound, or a combination of sound and indicator light.
  • the ground station can be an independent visual ground station (eg, a smartphone, tablet, etc.) and/or a manual control device (eg, a remote control), or an integrated control station that visualizes the ground station and the manual control device.
  • the verification content can include:
  • the above verification item can define a preset time interval as the time interval for all items to be verified by the network, or each item can define a time interval as a time interval for network verification.
  • drones and ground stations can be verified on a separate network. If there is a network communication receiving module on the drone, such as a wireless network module, a Wi-Fi module, a SIM card and other mobile network modules, it is also possible to implement separate network verification, and thus the network verification time of the drone and the ground station may be inconsistent.
  • the UAV and the ground station are not one-to-one matching flights, so in order to ensure the safety of the UAV operation, the pre-flight network verification will eventually be applied to the UAV 201 flight. Implemented in the sex management module 211.
  • the UAV system can perform flight suitability verification according to the verification rules fixed by the UAV system supplier.
  • the storage unit 314 of the drone 301 may include: a record of the last network verification of the drone, a drone upgrade and version record, and a drone maintenance record; and further includes: a ground station last network verification record, Ground station upgrade and version record, ground station dimension Further, it may further include: a long-term or temporary flight-defining database, other databases related to safe operation (such as a navigation database); further, may also include a drone system and personnel identity information for verifying the unmanned Whether the machine system or operator is in the blacklist or in the restricted list.
  • the storage unit 331 of the visual ground station 303 may include: visualizing the ground station 303 last network verification record, visualizing the ground station 303 last upgrade and version record; further, may further include: long-term or temporary flight-defining database, other and security Run related databases (such as navigation databases); further, it can include upgrade and verification records for long-term or temporary flight-free databases, and upgrade and verification records for other databases related to security operations.
  • the storage unit 341 of the ground manual control device 304 may include: the ground manual control device 304 last network verification record, the ground manual control device 304 last upgrade and version record; further, may further include a storage unit 331 of the visual ground station 303 Some or all of the data stored in it.
  • the ground manual control device 304 can be a remote controller.
  • the verification module 311 of the drone 301 obtains real-time time information from the sensor 315 (or further, obtains real-time location information); at least one of the following information is obtained from the storage unit of the system: the last verification time of the drone, no one Firmware version of the machine, ground station last verification time, ground station firmware version, model suitability information, configuration suitability information, long-term or temporary flight-free database version, other security-related database versions, drone systems or Whether the operator is in the blacklist or the restricted list; further, other information stored in the storage unit of the system can also be obtained.
  • the storage unit of the system includes the following At least one of the storage units: a storage unit 314 of the drone 301, or a storage unit 331 of the visual ground station 303, or a storage unit 341 of the ground manual control device 304.
  • the verification module 311 performs flight suitability verification on the verification items obtained from the storage unit of the system according to the obtained real-time time information (further, may include real-time location information) and the system-preset verification rules.
  • the flight controller is sent a safe flight information, where there is no restriction on the information content; if the verification result is required for at least one verification project of the UAV system In the upgrade, the flight controller is sent a no-fly and/or flight-limited information (further, the alarm information can also be sent to the status indicator), and the information to be upgraded is sent to the ground station 302 over the wireless link.
  • the drone further includes a latest networked verification record module, configured to obtain a verification item from the storage unit of the system, and send the verification item to the verification module 311.
  • a latest networked verification record module configured to obtain a verification item from the storage unit of the system, and send the verification item to the verification module 311.
  • the UAV and the ground station's last network verification time is inconsistent, it is necessary to determine the redundancy or substitution relationship between the UAV and the ground station verification project according to the UAV and ground station verification items, and then redundantly Or a comparison of the version, verification time, and/or upgrade time of the alternative project, determine the relatively new project, and then use the system's preset verification rules for flight suitability verification. Alternatively, it can be used with drones.
  • the verification rules for the ground station's last network verification time are consistent.
  • the verification item may be at least one of those shown in Table 1.
  • networked verification is performed when the drone, manual control, ground station, or other component/device is first used.
  • a method of providing configurability to the administrator or user can be added, deleted, and modified as needed by the administrator or user.
  • a multi-level management, and a multi-management level management process are supported.
  • the status indicator, the voice/voice prompt, the tactile design prompt, the user warning indication module in the visual ground station, etc. can be used to inform the flight crew whether the current UAV system status is Applicable to this flight.
  • the network verification confirms that the UAV firmware, ground station firmware, long-term or temporary flight limit database, other safety-related data configurations, configurations, models, specific aircraft or operators, etc. are not suitable for the current flight, the status will pass.
  • Indicator lights, voice/voice, and/or visual alert information alerts inform the flight user and restrict or even prohibit aircraft flight.
  • a method of configurability will be provided, and the manager/or user can automatically and manually configure and select corresponding restrictions and measures according to specific needs.
  • Limitations and disposal measures may include one or more of the following:
  • the flight of the model drones is prohibited or restricted when the manufacturer or the drone supervisor has confirmed that one or some of the models have been unable to upgrade safely to ensure that they are flying safely.
  • the repair confirms that the current safety requirements are met, the model number of the aircraft will be changed to the upgrade model number or changed to the usable or flight status to ensure that it is met.
  • FIG. 4 is a network authentication method according to an embodiment of the present invention, including:
  • the verification item for flight adaptive verification of the drone system may include at least one of the following: a drone system configuration, or a data configuration related to the safe operation for flight adaptive verification.
  • the UAV system firmware version may include at least one of the following: a drone firmware version, a ground station firmware version, a remote controller firmware version, or an operating parameter configuration.
  • the data configuration related to the security operation may include at least one of the following databases: a long term flight database, a temporary flight limited database, a navigation database, and a flight management database.
  • the verification item may further include at least one of the following: an unmanned organization type, a drone type, a drone system, a blacklist, and an operator blacklist.
  • the flight adaptability verification of the drone system includes: periodically verifying the flight adaptability of the drone system.
  • periodically performing flight adaptive verification on the drone system includes: obtaining real-time time information of the drone system, comparing the acquired real-time time information with the last verification time, when the real-time time information is last Flight adaptive verification of the drone system when the time interval of the verification time exceeds the preset time interval.
  • the real-time time information of the UAV system is acquired by using at least one of a satellite positioning navigation system, a mobile communication base station, a Wi-Fi, a public network, or a timer in the UAV system.
  • the satellite positioning navigation system includes at least one of the following systems: Global Positioning System GPS, Beidou navigation system, Global Navigation Satellite System GLONASS, India region Navigation system, or Galileo navigation system.
  • each verification item corresponds to a preset time interval, and when the time interval between the real-time time information and the last verification time exceeds a preset time interval corresponding to the verification item, the verification item is verified; or
  • the N verification items correspond to the same preset time interval, and when the time interval between the real-time time information and the last verification time exceeds a preset time interval corresponding to the N verification items, the N verification items are verified, wherein , N is greater than or equal to 2.
  • the UAV flight adaptive verification is performed periodically, including: acquiring real-time time information and real-time location information of the UAV system; comparing the real-time time information with the last verification time to obtain a time interval between the real-time time information and the last verification time; determining, according to the time interval and the real-time location information, a verification item that needs to be verified; performing flight suitability verification on the determined verification item that needs to be verified.
  • At least one of the following measures may be taken on the UAV system: flight restriction, no-fly, alarm, forced upgrade firmware, forced upgrade database, forced upgrade hardware, limited operator or user type, or Forced return to the factory.
  • the flight limit may include at least one of the following: a limit height, a limit limit, an additional specific area limit flight, a speed limit, a limited flight time or a limited flight number, a limited control mode, and a limited configuration configuration.
  • defining the flightable time or defining the number of flightable times may include displaying the remaining flight time or number of times in the visualized ground station.
  • the network verification method further includes: notifying the flight personnel of the current presence by using at least one of a status indicator, a voice, a voice, a tactile, or a user warning indication module in the visual ground station. Whether the man-machine system status is suitable for this flight.
  • the network verification method further includes: determining, according to an item to be verified by the UAV and the ground station, a redundancy verification item between the UAV and the ground station, and verifying the redundancy by the UAV The last verification time of the item is compared with the last verification time of the redundant verification item by the ground station, and the latest verification result of the redundant verification item is determined.
  • FIG. 5 is a network authentication device 500 according to an embodiment of the present invention, including:
  • the verification module 501 is configured to perform flight adaptation verification on the UAV system, and the verification item includes at least one of the following: a UAV system configuration, or a data configuration related to the security operation;
  • the processing module 502 is configured to determine a disposal measure of the UAV system according to the verification result.
  • the UAV system firmware version includes at least one of the following: a drone firmware version, a ground station firmware version, a remote controller firmware version, or an operating parameter configuration.
  • the data configuration related to the security operation may include at least one of the following databases: a long term flight database, a temporary flight limited database, a navigation database, and a flight management database.
  • the verification project may further include at least one of the following:
  • unmanned organization, drone model, and drone system are blacklisted, or whether the operator is blacklisted.
  • the verification module is specifically configured to periodically perform flight adaptive verification on the unmanned aerial vehicle system.
  • the verification module 501 includes an acquisition unit 511 and a verification unit 512.
  • the obtaining unit 511 is configured to acquire real-time time information of the UAV system
  • the verification unit 512 is configured to compare the acquired real-time time information with the last verification time, when the acquired real-time time information is Flight adaptive verification of the drone system when the time interval of the secondary verification time exceeds the preset time interval.
  • the obtaining unit 511 can acquire real-time time information of the UAV system by using at least one of a satellite positioning navigation system, a mobile communication base station, a Wi-Fi, a public network, or a timer in the UAV system.
  • the satellite positioning navigation system may include at least one of the following systems: Global Positioning System GPS, Beidou navigation system, Global Navigation Satellite System GLONASS, Indian Regional Navigation System, or Galileo navigation system.
  • each verification item may correspond to a preset time interval, and when the time interval between the acquired real-time time information and the last verification time of the verification item exceeds a preset time interval corresponding to the verification item, the verification item is performed. Verify; or
  • the N verification items may correspond to the same preset time interval, and when the time interval between the acquired real-time time information and the last verification time of the N verification items exceeds a preset time interval corresponding to the N verification items, N verification projects are verified, among them, N is greater than or equal to 2.
  • the obtaining unit 511 is configured to acquire real-time time information and real-time location information of the UAV system
  • the verification unit 512 is configured to compare the acquired real-time time information with the last verification time to obtain the The time interval between the real-time time information and the last verification time, according to the time interval and the real-time location information, determining a verification item that needs to be verified, and performing flight suitability verification on the determined verification item that needs to be verified.
  • the processing module 502 is configured to: according to the verification result, at least one of the following measures may be taken on the drone: limited flight, no-fly, alarm, forced upgrade firmware, forced upgrade database, forced upgrade hardware, limited operator or User type, or mandatory return to factory.
  • the flight limit may include at least one of the following measures: a limit height, a limit limit, an additional specific area limit flight, a speed limit, a limited flight time or a limited flight number, a limited control mode, and a limited configuration configuration.
  • defining the flightable time or defining the number of flightable times may include displaying the remaining flight time or number of times in the visualized ground station.
  • the networked verification apparatus 500 further includes a notification module 503 for using the verification result by a status indicator, a sound and/or voice prompt, a tactile design prompt, or visualizing a user warning in the ground station.
  • a notification module 503 for using the verification result by a status indicator, a sound and/or voice prompt, a tactile design prompt, or visualizing a user warning in the ground station.
  • At least one of the indication modules is to inform the flight crew whether the current UAV system status is suitable for the flight.
  • the network verification device 500 further includes a redundancy culling module 504, configured to determine a redundancy verification item between the UAV and the ground station according to the items that the UAV and the ground station need to verify, and the UAV pair The last verification time of the redundant verification item is compared with the last verification time of the redundant verification item by the ground station, and the redundancy is determined. The latest verification results of the verification project.
  • An embodiment of the present invention further provides an unmanned aerial vehicle system, including a drone and a ground station, further comprising a networked verification device as described in the foregoing embodiments, the networked verification device being deployed on a drone, or a ground station, or Third-party equipment.
  • the third party device may include a server.
  • the present invention also provides a storage medium for storing instructions for performing the steps of the networked authentication method provided by the present invention.
  • the steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented directly in hardware, a software module executed by a processor, or a combination of both.
  • the software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, Or any other form of storage medium known in the art.

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Abstract

本发明实施例公开了一种联网验证方法及装置。所述联网验证方法包括：对无人机系统进行飞行适应性验证，验证项目包括以下至少一项：无人机系统配置、或与安全运行相关的数据配置进行飞行适应性验证；根据验证结果确定无人机系统的处置措施。从而实现无人机联网验证，以确保无人机处于一种可接受的安全性水平。

Description

一种联网验证的方法及装置 技术领域
本发明涉及验证领域，尤其涉及一种联网验证方法及装置。
背景技术
随着无人机行业不断发展和无人机数量的急剧增加，无人机引起的安全事件或者事故征兆越来越多，各国相继发布相关的无人机管理政策与要求，以规范无人机的运行活动和设计活动。然而，许多无人机系统不满足既定的安全性要求，无法保证在一种可接受的低风险状态下安全运行。
发明内容
本发明实施例提供了一种联网验证的方法及装置，以降低无人机运行过程中的安全性风险。
本发明第一方面提供一种联网验证方法，包括：
对无人机系统进行飞行适应性验证，验证项目包括以下至少一项：无人机系统配置、或与安全运行相关的数据配置进行飞行适应性验证；
根据验证结果确定无人机系统的处置措施。
结合第一方面，在第一种可能的实现方式中，所述无人机系统配置包括以下至少一种：无人机固件版本、地面站固件版本、或遥控器固件版本、运行参数配置。
结合第一方面或第一方面第一种可能的实现方式，在第二种可能 的实现方式中，所述与安全运行相关的数据配置包括以下数据库的至少一种：长期限飞数据库、临时限飞数据库、导航数据库、飞行管理数据库。
结合第一方面至第一方面的第二种可能的实现方式中任一种实现方式，在第三种可能的实现方式中，所述验证项目还包括以下至少一项：无人机构型、无人机机型、无人机系统是否在黑名单、操作人员是否在黑名单。
结合第一方面至第一方面的第三种可能的实现方式中任一种实现方式，在第四种可能的实现方式中，所述对无人机系统进行飞行适应性验证，包括：定期对无人机系统进行飞行适应性验证。
结合第一方面的第四种可能的实现方式，在第五种可能的实现方式中，所述定期对无人机进行飞行适应性验证，包括：获取所述无人机系统的实时时间信息，将所述实时时间信息与上次验证时间进行对比，当所述实时时间信息与上次验证时间的时间间隔超过预设时间间隔时，对无人机系统进行飞行适应性验证。
结合第一方面的第五种可能的实现方式，在第六种可能的实现方式中，所述当所述实时时间信息与上次验证时间的时间间隔超过预设时间间隔时，进行无人机系统飞行适应性验证，包括：
每个验证项目对应一个预设时间间隔，当所述实时时间信息与上次验证时间的时间间隔超过该验证项目对应的预设时间间隔时，对该验证项目进行验证；或
N个验证项目对应一个预设时间间隔，当所述实时时间信息与上次验证时间的时间间隔超过所述N个验证项目对应的预设时间间隔 时，对所述N个验证项目进行验证，其中，N大于或等于2。
结合第一方面的第五种可能的实现方式，在第七种可能的实现方式中，所述获取所述无人机系统的实时时间信息，包括：利用卫星定位导航系统、手机通讯基站、Wi-Fi、公共网络、或无人机系统中的计时器中的至少一种，获取所述无人机系统的实时时间信息。
结合第一方面的第七种可能的实现方式，在第八种可能的实现方式中，所述卫星定位导航系统包括以下系统的至少一种：全球定位系统GPS、北斗导航系统、全球导航卫星系统GLONASS、印度区域导航系统、或伽利略导航系统。
结合第一方面的第四种可能的实现方式，在第九种可能的实现方式中，所述定期进行无人机飞行适应性验证，包括：获取所述无人机系统的实时时间信息和实时位置信息；将所述实时时间信息与上次验证时间进行对比，得到所述实时时间信息与上次验证时间的时间间隔；根据所述时间间隔和所述实时位置信息，确定需要验证的验证项目；对所述确定的需要验证的验证项目进行飞行适用性验证。
结合第一方面至第一方面的第九种可能的实现方式中任一种实现方式，在第十种可能的实现方式中，所述根据验证结果确定无人机系统的处置措施，包括：根据所述验证结果，对无人机系统采取以下措施中的至少一种：限飞、禁飞、告警、强制升级固件、强制升级数据库、强制升级硬件、限定操作人员或用户类型、或强制返厂。
结合第一方面的第十种可能的实现方式，在第十一种可能的实现方式中，所述限飞包括以下的至少一种：限高，限远，附加的特定区 域限飞，限速，限定可飞行时间或限定可飞行次数，限定控制模式，限定构型配置。
结合第一方面的第十一种可能的实现方式，在第十二种可能的实现方式中，所述限定可飞行时间或限定可飞行次数包括：在可视化地面站中显示剩余可飞行时间或次数。
结合第一方面至第一方面的第十二种可能的实现方式中任一种实现方式，在第十三种可能的实现方式中，所述方法还包括：将所述验证结果，通过状态指示灯、声音和/或语音提示、触觉提示、或可视化地面站中的用户警告语指示模块中的至少一种来告知飞行人员目前的无人机系统状态是否适用于本次飞行。
结合第一方面至第一方面的第十三种可能的实现方式中任一种实现方式，在第十四种可能的实现方式中，所述方法还包括：根据无人机和地面站需要验证的项目，确定无人机与地面站之间冗余验证项目，将所述无人机对所述冗余验证项目的上次验证时间与所述地面站对所述冗余验证项目的上次验证时间进行对比分析，确定所述冗余验证项目的最新验证结果。
本发明第二方面提供了一种联网验证装置，包括：
验证模块，用于对无人机系统进行飞行适应性验证，验证项目包括以下至少一项：无人机系统配置、或与安全运行相关的数据配置；
处置模块，用于根据验证结果确定所述无人机系统的处置措施。
结合第二方面，在第二方面的第一种可能的实现方式中，所述无人机系统配置包括以下至少一种：无人机固件版本、地面站固件版本、 遥控器固件版本、或运行参数配置。
结合第二方面或第二方面的第一种可能的实现方式，在第二方面的第二种可能的实现方式中，所述与安全运行相关的数据配置爱包括以下数据库的至少一种：长期限飞数据库、临时限飞数据库、导航数据库、飞行管理数据库。
结合第二方面至第二方面的第二种可能的实现方式中任一种可能的实现方式，在第二方面的第三种可能的实现方式中，所述验证项目还包括以下至少一项：无人机构型、无人机机型、无人机系统是否在黑名单、或操作人员是否在黑名单。
结合第二方面至第二方面的第三种可能的实现方式中任一种实现方式，在第二方面的第四种可能的实现方式中，所述验证模块具体用于，定期对无人机系统进行飞行适应性验证。
结合第二方面的第四种可能的实现方式，在第二方面的第五种可能的实现方式中，所述验证模块包括获取单元、验证单元；
所述获取单元，用于获取所述无人机系统的实时时间信息；
所述验证单元，用于将所述实时时间信息与上次验证时间进行对比，当所述实时时间信息与上次验证时间的时间间隔超过预设时间间隔时，对无人机系统进行飞行适应性验证。
结合第二方面的第五种可能的实现方式，在第二方面的第六种可能的实现方式中，所述验证单元具体用于，每个验证项目分别对应一个预设时间间隔，当所述实时时间信息与该验证项目上次验证时间的时间间隔超过该验证项目对应的预设时间间隔时，对该验证项目进行 验证；或，N个验证项目对应同一个预设时间间隔，当所述实时时间信息与所述N个验证项目上次验证时间的时间间隔超过所述N个验证项目对应的预设时间间隔时，对所述N个验证项目进行验证，其中，N大于或等于2。
结合第二方面的第五种可能的实现方式，在第二方面的第七种可能的实现方式中，所述获取单元具体用于利用卫星定位导航系统、手机通讯基站、Wi-Fi、公共网络、或无人机系统中的计时器中的至少一种，获取所述无人机系统的实时时间信息。
结合第二方面的第七种可能的实现方式，在第二方面的第八种可能的实现方式中，所述卫星定位导航系统包括以下系统的至少一种：全球定位系统GPS、北斗导航系统、全球导航卫星系统GLONASS、印度区域导航系统、或伽利略导航系统。
结合第二方面的第四种可能的实现方式，在第二方面的第九种可能的实现方式中，所述验证模块包括获取单元、验证单元；所述获取单元，用于获取所述无人机系统的实时时间信息和实时位置信息；所述验证单元，用于将所述实时时间信息与上次验证时间进行对比，得到所述实时时间信息与上次验证时间的时间间隔，根据所述时间间隔和所述实时位置信息，确定需要验证的验证项目，对所述确定的需要验证的验证项目进行飞行适用性验证。
结合第二方面至第二方面的第九种可能的实现方式中任一种实现方式，在第二方面的第十种可能的实现方式中，所述处置模块具体用于根据所述验证结果，对无人机采取以下措施中的至少一种：限飞、 禁飞、告警、强制升级固件、强制升级数据库、强制升级硬件、限定操作人员或用户类型、或强制返厂。
结合第二方面的第十种可能的实现方式，在第二方面的第十一种可能的实现方式中，所述限飞包括以下措施中的至少一种：限高，限远，附加的特定区域限飞，限速，限定可飞行时间或限定可飞行次数，限定控制模式，限定构型配置。
结合第二方面的第十一种可能的实现方式，在第二方面的第十二种可能的实现方式中，所述限定可飞行时间或限定可飞行次数包括：在可视化地面站中显示剩余可飞行时间或次数。
结合第二方面至第二方面的第十二种可能的实现方式中任一种实现方式，在第二方面的第十三种可能的实现方式中，所述装置还包括通知模块，用于将所述验证结果，通过状态指示灯、声音和/或语音提示、触觉设计提示、或可视化地面站中的用户警告语指示模块中的至少一种来告知飞行人员目前的无人机系统状态是否适用于本次飞行。
结合第二方面至第二方面的第十三种可能的实现方式中任一种实现方式，在第二方面的第十四种可能的实现方式中，所述装置还包括冗余剔除模块，用于根据无人机和地面站需要验证的项目，确定无人机与地面站之间冗余验证项目，将所述无人机对所述冗余验证项目的上次验证时间与所述地面站对所述冗余验证项目的上次验证时间进行对比分析，确定所述冗余验证项目的最新验证结果。
本发明第三方面提供一种无人机系统，包括无人机和地面站，其 特征在于，还包括如第二方面至第二方面的第十四种可能的实现方式中任一种实现方式所述的联网验证装置，所述装置部署于所述无人机、或所述地面站、或第三方设备。
结合第三方面，在第三方面的第一种可能的实现方式中，所述第三方设备包括服务器。
本发明第四方面提供一种存储介质，用于存储指令，所述指令用于执行如第一方面至第一方面第十四种可能实现方式中任一种可能实现方式所述的联网验证方法的步骤。
本发明实施例提供了一种无人机联网验证方法、装置，对无人机系统进行飞行适应性验证，验证项目包括以下至少一项：无人机系统配置、或与安全运行相关的数据配置进行飞行适应性验证；根据验证结果确定无人机系统的处置措施。从而实现无人机联网验证，以降低无人机运行过程中的安全性风险。
附图说明
为了更清楚地说明本发明实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明实施例提供的一种可移动物体100的示意图。
图2为本发明实施例提供的一种验证飞行适应性的示意图。
图3为本发明实施例提供的另一种验证飞行适应性的示意图。
图4为本发明实施例提供的一种验证飞行适应性方法的示意图。
图5为本发明实施例提供的一种验证飞行适应性装置500的结构示意图。
图6为本发明实施例提供的另一种验证飞行适应性装置500的结构示意图。
图7为本发明实施例提供的另一种验证飞行适应性装置500的结构示意图。
具体实施方式
本发明实施例提供了一种联网验证的方法及装置，实现无人机联网验证，以确保无人机处于一种可接受的安全性水平。
以下对本发明的描述使用无人机作为可移动物体的示例。显而易见的是，对于本领域技术人员将可以不受限制地使用其他类型的可移动物体。
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
下面通过具体实施例，分别进行详细说明。
可移动物体
图1为本发明实施例提供的一种可移动物体100的示意图。该可移动物体100包括承载体102及负载104。尽管可移动物体100被描述为飞行器，然而这样的描述并不是限制，任何类型的可移动物体都适用。本领域技术人员应该了解，本文所描述的任何关于飞行器系统的实施例适用于任何可移动物体(如无人飞行器)。在某些实施例中，负载104可以直接位于可移动物体100上，而不需要承载体102。可移动物体100可以包括动力机构106，传感系统108以及通讯系统110。
动力机构106可以包括一个或者多个旋转体、螺旋桨、桨叶、引擎、电机、轮子、轴承、磁铁、喷嘴。例如，所述动力机构的旋转体可以是自紧固(self-tightening)旋转体、旋转体组件、或者其它的旋转体动力单元。可移动物体可以有一个或多个动力机构。所有的动力机构可以是相同的类型。可选的，一个或者多个动力机构可以是不同的类型。动力机构106可以通过合适的手段安装在可移动物体上，如通过支撑元件(如驱动轴)。动力机构106可以安装在可移动物体100任何合适的位置，如顶端、下端、前端、后端、侧面或者其中的任意结合。
在某些实施例中，动力机构106能够使可移动物体垂直地从表面起飞，或者垂直地降落在表面上，而不需要可移动物体100任何水平运动(如不需要在跑道上滑行)。可选的，动力机构106可以允许可移动物体100在空中预设位置和/或方向盘旋。一个或者多个动力机构106在受到控制时可以独立于其它的动力机构。可选的，一个或者 多个动力机构106可以同时受到控制。例如，可移动物体100可以有多个水平方向的旋转体，以追踪目标的提升及/或推动。水平方向的旋转体可以被致动以提供可移动物体100垂直起飞、垂直降落、盘旋的能力。在某些实施例中，水平方向的旋转体中的一个或者多个可以顺时针方向旋转，而水平方向的旋转体中的其它一个或者多个可以逆时针方向旋转。例如，顺时针旋转的旋转体与逆时针旋转的旋转体的数量一样。每一个水平方向的旋转体的旋转速率可以独立变化，以实现每个旋转体导致的提升及/或推动操作，从而调整可移动物体100的空间方位、速度及/或加速度(如相对于多达三个自由度的旋转及平移)。
传感系统108可以包括一个或者多个传感器，以感测可移动物体100的空间方位、速度及/或加速度(如相对于多达三个自由度的旋转及平移)。所述一个或者多个传感器包括前述描述的任何传感器，包括GPS传感器、运动传感器、惯性传感器、近程传感器或者影像传感器。传感系统108提供的感测数据可以用于追踪目标100的空间方位、速度及/或加速度(如下所述，利用适合的处理单元及/或控制单元)。可选的，传感系统108可以用于采集可移动物体的环境的数据，如气候条件、要接近的潜在的障碍、地理特征的位置、人造结构的位置等。
通讯系统110能够实现与具有通讯系统114的终端112通过无线信号116进行通讯。通讯系统110、114可以包括任何数量的用于无线通讯的发送器、接收器、及/或收发器。所述通讯可以是单向通讯， 这样数据可以从一个方向发送。例如，单向通讯可以包括，只有可移动物体100传送数据给终端112，或者反之亦然。通讯系统110的一个或者多个发送器可以发送数据给通讯系统112的一个或者多个接收器，反之亦然。可选的，所述通讯可以是双向通讯，这样，数据可以在可移动物体100与终端112之间在两个方向传输。双向通讯包括通讯系统110的一个或者多个发送器可以发送数据给通讯系统114的一个或者多个接收器，及反之亦然。
在某些实施例中，终端112可以向可移动物体100、承载体102及负载104中的一个或者多个提供控制数据，并且从可移动物体100、承载体102及负载104中的一个或者多个中接收信息(如可移动物体、承载体或者负载的位置及/或运动信息，负载感测的数据，如相机捕获的影像数据)。在某些实施例中，终端的控制数据可以包括关于位置、运动、致动的指令，或者对可移动物体、承载体及/或负载的控制。例如，控制数据可以导致可移动物体位置及/或方向的改变(如通过控制动力机构106)，或者导致承载体相对于可移动物体的运动(如通过对承载体102的控制)。终端的控制数据可以导致负载控制，如控制相机或者其它影像捕获设备的操作(捕获静止或者运动的影像、变焦、开启或关闭、切换成像模式、改变影像分辨率、改变焦距、改变景深、改变曝光时间、改变可视角度或者视场)。在某些实施例中，可移动物体、承载体及/或负载的通讯可以包括一个或者多个传感器(如传感系统108或者负载104)发出的信息。所述通讯可以包括从一个或者多个不同类型的传感器(如GPS传感器、运动传感器、惯 性传感器、近程传感器或者影像传感器)传送的感应信息。所述感应信息是关于可移动物体、承载体及/或负载的位置(如方向、位置)、运动、或者加速度。从负载传送的感应信息包括负载捕获的数据或者负载的状态。终端112传送提供的控制数据可以用于追踪可移动物体100、承载体102或者负载104中一个或者多个的状态。可选的或者同时地，承载体102及负载104每一个都可以包括通讯模块，用于与终端112通讯，以便终端可以单独地通讯或者追踪可移动物体100、承载体102及负载104。
在某些实施例中，可移动物体100可以与除了终端112之外的其它远程设备通讯，终端112也可以与除可移动物体100之外的其它远程设备进行通讯。例如，可移动物体及/或终端112可以与另一个可移动物体或者另一个可移动物体的承载体或负载通讯。当有需要的时候，所述另外的远程设备可以是第二终端或者其它计算设备(如计算机、桌上型电脑、平板电脑、智能手机、或者其它移动设备)。该远程设备可以向可移动物体100传送数据，从可移动物体100接收数据，传送数据给终端112，及/或从终端112接收数据。可选的，该远程设备可以连接到因特网或者其它电信网络，以使从可移动物体100及/或终端112接收的数据上传到网站或者服务器上。
在某些实施例中，可移动物体的运动、承载体的运动及负载相对固定参照物(如外部环境)的运动，及/或者彼此间的运动，都可以由终端所控制。所述终端可以是远程控制终端，位于远离可移动物体、承载体及/或负载的地方。终端可以位于或者粘贴于支撑平台上。可 选的，所述终端可以是手持的或者穿戴式的。例如，所述终端可以包括智能手机、平板电脑、桌上型电脑、计算机、眼镜、手套、头盔、麦克风或者其中任意的结合。所述终端可以包括用户界面，如键盘、鼠标、操纵杆、触摸屏或者显示器。任何适合的用户输入可以与终端交互，如手动输入指令、声音控制、手势控制或者位置控制(如通过终端的运动、位置或者倾斜)。
验证飞行适用性
本发明实施例中所描述的“升级”包括固件升级、与安全运行相关的全部或部分数据库升级、硬件升级和机型升级。
本发明实施例利用外部网路得到的实时时间信息和/或实时位置信息，将上次升级或联网验证的时间信息和/或位置信息与实时时间信息和/或实时位置信息进行对比，可以想见的，是将时间信息与位置信息分别进行对比。当实时时间信息与上次升级或联网验证的时间信息的时间间隔超过预设时间间隔时，则无人机系统将采取限飞、禁飞、告警、强制升级等措施。无人机有多种不适合飞行的情况，例如：
1)无人机系统长期不联网：无法对无人机固件版本、地面控制站固件版本、机型、无人机或地面站中与安全运行相关的数据库(例如限飞数据库、导航数据库等)进行适用性验证；
2)无人机固件长期不升级：无法保证无人机处于一种安全的运行状态；
3)地面站固件长期不升级：无法保证地面站中与安全运行相关的 数据库(例如限飞数据库、导航数据库等)的适用性、相应的告警与指示功能、飞行限制功能、或安全性设计处于一种安全的状态；
4)无人机设计或制造错误、无法及时地纠正；
5)新出台的无人机适航与安全要求，无法及时地作用于每个无人机系统，从而使其处于一种不安全的状态；
6)新的提升飞机安全性和可靠性的设计无法及时地植入到无人机系统中。
本发明实施例提供一种验证飞行适用性的方法，来确保无人机系统处于一种可接受的安全性水平和/或适航状态，以达到如下状态：
1)确保无人机系统在预设的时间周期内必须联网验证飞行安全适用性；
2)确保不合适和不安全的无人机机型、构型、无人机或地面站的固件版本、限飞数据库、其它与安全相关的数据配置能得到及时处理，例如强制升级、召回等；
3)确保飞行人员的违规行为或者不安全飞行行为能够得到及时地发现和处理；
4)确保新的适航或安全要求、安全性与可靠性设计能够及时地植入到无人机系统中；
5)在满足无人机运行安全和适航的情况下，最大可能的提高无人机的可用性。
如图2所示，本发明实施例提供了一种验证飞行适用性的方案。包括服务器205的飞行适用性验证模块251、地面站202的飞行适用 性管理模块231、地面站202的用户警告与指示模块234、遥控器204的飞行适用性管理模块241、无人机201的飞行适用性管理模块211、飞行控制器215、状态指示灯216、传感器213(例如GPS)、身份管理模块214，以实现无人机系统的联网验证。
图2中用于提供时间和/或位置信息传感器213，可以是卫星定位导航系统的接收传感器，卫星定位导航系统包括以下的至少一种：GPS、北斗、伽利略；也可以是SIM卡等手机通信网络接收传感器、或者无线网卡等因特网接收传感器、或者公共Wi-Fi接收传感器；同时还可以采取其它方法来得到所需时间和/或位置信息，如在无人机或地面站中提供采取独立供电设备的计时器来提供定期限制的时间信息、抓取手机中提供的通信网络或互联网络中提供的时间和位置信息等。状态指示灯可被声音、或者声音与指示灯融合的方式来代替。地面站可以是独立的可视化地面站(例如智能手机、平板电脑等)和/或手动控制装置(例如遥控器)，也可以是可视化地面站与手动控制装置的集成控制站。
验证内容可以包括：
1)无人机系统固件版本的适用性；
2)地面站和无人机中的长期和/或临时限飞数据库的适用性；
3)地面站和无人机中与安全运行相关的数据库的适用性；
4)无人机构型的适用性；
5)无人机机型的适用性；
6)无人机系统或者人员是否在黑名单中或者限制管理人员名单 中。
上述验证项目可以定义一个预设时间间隔，作为所有项目必须进行联网验证的时间间隔，也可以每个项目单独或几个项目定义一个时间间隔作为必须联网验证的时间间隔。一般情况下，无人机、地面站可以单独联网验证。若无人机上有网络通讯接收模块，如无线网络模块、Wi-Fi模块、SIM卡等手机网络模块，也可以实现单独联网验证，因而无人机和地面站的联网验证时间可能是不一致的。对于很多无人机系统来说，无人机和地面站不是一对一匹配飞行的，因而为了保证无人机运行的安全性，在飞行前的联网验证将最终在无人机201的飞行适用性管理模块211中实现。
对于无人机安全运行来说，由于具体设计的不同，无人机和地面站(包括手动控制装置和可视化地面站)在保障无人机安全运行上的角色和作用会有所不同，因而在进行联网验证时，地面站和无人机的联网验证项目可能会有所不同，但作为整个无人机系统来说，有着密切的联系。
如图3所示，当无人机和地面站上次联网验证时间一致时，无人机系统能够根据无人机系统供应商所固定匹配的验证规则进行飞行适用性验证。
无人机301的存储单元314中可以包括：无人机上次联网验证的记录、无人机升级与版本记录、无人机维护记录；进一步地，还可以包括：地面站上次联网验证记录、地面站升级与版本记录、地面站维 护记录；进一步地，还可以包括：长期或临时限飞数据库、其他与安全运行相关的数据库(例如导航数据库)；进一步地，还可以包括无人机系统与人员身份信息，用于验证无人机系统或者操作人员是否在黑名单中或者限制名单中。
可视化地面站303的存储单元331中可以包括：可视化地面站303上次联网验证记录、可视化地面站303上次升级与版本记录；进一步地，还可以包括：长期或临时限飞数据库、其他与安全运行相关的数据库(例如导航数据库)；进一步的，还可以包括长期或临时限飞数据库的升级与验证记录、其他与安全运行相关的数据库的升级与验证记录。
地面手动控制装置304的存储单元341中可以包括：地面手动控制装置304上次联网验证记录、地面手动控制装置304上次升级与版本记录；进一步地，还可以包括可视化地面站303的存储单元331中存储的部分或全部数据。具体的，地面手动控制装置304可以是遥控器。
无人机301的验证模块311，从传感器315得到实时时间信息(或者进一步，还得到实时位置信息)；从系统的存储单元中得到以下信息的至少一种：无人机上次验证时间、无人机的固件版本、地面站上次验证时间、地面站的固件版本、机型适用性信息、构型适用性信息、长期或临时限飞数据库版本、其他安全相关的数据库版本，无人机系统或者操作人员是否在黑名单中或者限制名单中；进一步地，还可以得到其他存储在系统的存储单元中的信息。系统的存储单元包括以下 存储单元中的至少一种：无人机301的存储单元314、或者可视化地面站303的存储单元331、或者地面手动控制装置304的存储单元341。验证模块311根据得到的实时时间信息(进一步地，可以包括实时位置信息)以及系统预设的验证规则，对从系统的存储单元中得到的验证项目进行飞行适用性验证。如果验证结果为无人机系统处于适航状态，则向飞行控制器发送可安全飞行的信息，在这里，对信息内容不做限制；如果验证结果为无人机系统某至少一种验证项目需要升级，则向飞行控制器发送禁飞和/或限飞的信息(进一步地，还可以向状态指示灯发送告警信息)，通过无线链路向地面站302发送需要升级的信息。
可选的，无人机还包括最新联网验证记录模块，用于从系统的存储单元得到验证项目，并将所述验证项目发送给验证模块311。
对于无人机与地面站上次联网验证时间不一致的情况，需要根据无人机和地面站需验证项目，确定无人机与地面站验证项目之间冗余或替代关系，然后对其冗余或替代项目的版本、验证时间和/或升级时间等进行对比分析，确定相对较新的项目，然后用系统预设的验证规则进行飞行适用性验证，可选的，可以采用与无人机与地面站上次联网验证时间一致情况下的验证规则。
可选的，验证项目可以如表1所示中的至少一项。
表1验证项目
Figure PCTCN2016088561-appb-000001
Figure PCTCN2016088561-appb-000002
Figure PCTCN2016088561-appb-000003
可选的，在一些实施例中，当无人机、手动控制装置、地面站或其它部件/设备第一次使用时，进行联网验证。
可选的，在一些实施例中，关于无人机验证项目和参数，向管理者或者用户提供可配置性的方法，管理者或者用户可根据需要增加、删除和更改可验证项目和参数。
可选的，在一些实施例中，支持根据机型、运行类型、运行审批情况、特定飞机或用户，配置相应的可验证项目和参数。
可选的，在一些实施例中，支持多级管理、和多管理权限等级的管理过程。
具体的，对于无人机系统验证的结果，可以通过状态指示灯、声音/语音提示、触觉设计提示、可视化地面站中的用户警告语指示模块等来告知飞行人员目前的无人机系统状态是否适用于本次飞行。当联网验证确认无人机固件、地面站固件、长期或临时限飞数据库、其他与安全相关的数据配置、构型、机型、特定飞机或操作人员等不适合当前飞行时，将会通过状态指示灯、声音/语音、和/或可视化的告警信息提示等告知飞行用户、并限制甚至禁止飞机飞行。在一些实施例中，关于验证结果后的处置方法，将提供可配置性的方法，管理者/或用户可根据具体需要，自动或者手动配置和选择相应的限制和处置措施。限制和处置措施可以包括以下一项或多项：
a)限飞：
1)限高、限远；
2)附加的特定区域限飞；
3)限速；
4)限定可飞行时间和限定可飞行次数：支持在可视化地面站中显示剩余可飞行时间或次数；
5)限定控制模式；
6)限定构型配置；
7)其它；
b)禁飞：
c)告警：
d)强制联网验证；
e)强制升级固件、数据库或者硬件；
f)限定操作人员或者操作人员类型；
g)强制返厂或者维护；
h)其它。
在一些实施例中，对于制造商或者无人机监管方已确认某一或者某些机型已无法通过升级的方式来保证安全飞行时，会禁止或限制这些型号无人机的飞行或要求其进行硬件升级或返厂或到指定维修地点进行维修，当经过维修确认满足当前的安全性要求时，会对飞机的型号更改为升级型号编号，或者更改为可使用或飞行的状态，以保证满足安全性要求的无人机的可用性。
图4为本发明实施例提供的一种联网验证方法，包括：
S401，对无人机系统进行飞行适应性验证。
可选的，对无人机系统进行飞行适应性验证的验证项目可以包括以下至少一项：无人机系统配置、或与安全运行相关的数据配置进行飞行适应性验证。
具体的，所述无人机系统固件版本可以包括以下至少一种：无人机固件版本、地面站固件版本、遥控器固件版本、或运行参数配置。
可选的，与安全运行相关的数据配置可以包括以下数据库的至少一种：长期限飞数据库、临时限飞数据库、导航数据库、飞行管理数据库。
进一步地，验证项目还可以包括以下至少一项：无人机构型、无人机机型、无人机系统是否在黑名单、操作人员是否在黑名单。
可选的，对无人机系统进行飞行适应性验证，包括：定期对无人机系统进行飞行适应性验证。
在一些实施例中，定期对无人机系统进行飞行适应性验证包括：获取无人机系统的实时时间信息，将获取的实时时间信息与上次验证时间进行对比，当实时时间信息与上次验证时间的时间间隔超过预设时间间隔时，对无人机系统进行飞行适应性验证。
具体的，利用卫星定位导航系统、手机通讯基站、Wi-Fi、公共网络、或无人机系统中的计时器中的至少一种，获取无人机系统的实时时间信息。
具体的，卫星定位导航系统包括以下系统的至少一种：全球定位系统GPS、北斗导航系统、全球导航卫星系统GLONASS、印度区域 导航系统、或伽利略导航系统。
具体的，每个验证项目分别对应一个预设时间间隔，当实时时间信息与上次验证时间的时间间隔超过该验证项目对应的预设时间间隔时，对该验证项目进行验证；或
N个验证项目对应同一个预设时间间隔，当实时时间信息与上次验证时间的时间间隔超过所述N个验证项目对应的预设时间间隔时，对所述N个验证项目进行验证，其中，N大于或等于2。
在另一些实施例中，定期进行无人机飞行适应性验证，包括：获取所述无人机系统的实时时间信息和实时位置信息；将所述实时时间信息与上次验证时间进行对比，得到所述实时时间信息与上次验证时间的时间间隔；根据所述时间间隔和所述实时位置信息，确定需要验证的验证项目；对所述确定的需要验证的验证项目进行飞行适用性验证。
S402，根据验证结果确定无人机系统的处置措施。
具体的，根据验证结果，可以对无人机系统采取以下措施中的至少一种：限飞、禁飞、告警、强制升级固件、强制升级数据库、强制升级硬件、限定操作人员或用户类型、或强制返厂。
具体的，限飞可以包括以下的至少一种：限高，限远，附加的特定区域限飞，限速，限定可飞行时间或限定可飞行次数，限定控制模式，限定构型配置。
具体的，限定可飞行时间或限定可飞行次数可以包括：在可视化地面站中显示剩余可飞行时间或次数。
可选的，所述联网验证方法还包括：将验证结果，通过状态指示灯、声音、语音、触觉、或可视化地面站中的用户警告语指示模块中的至少一种来告知飞行人员目前的无人机系统状态是否适用于本次飞行。
可选的，所述联网验证方法还包括：根据无人机和地面站需要验证的项目，确定无人机与地面站之间冗余验证项目，将所述无人机对所述冗余验证项目的上次验证时间与所述地面站对所述冗余验证项目的上次验证时间进行对比分析，确定所述冗余验证项目的最新验证结果。
图5为本发明实施例提供的一种联网验证装置500，包括：
验证模块501，用于对无人机系统进行飞行适应性验证，验证项目包括以下至少一项：无人机系统配置、或与安全运行相关的数据配置；
处置模块502，用于根据验证结果确定所述无人机系统的处置措施。
具体的，无人机系统固件版本包括以下至少一种：无人机固件版本、地面站固件版本、遥控器固件版本、或运行参数配置。
具体的，与安全运行相关的数据配置可以包括以下数据库的至少一种：长期限飞数据库、临时限飞数据库、导航数据库、飞行管理数据库。
进一步的，验证项目还可以包括以下至少一项：
无人机构型、无人机机型、无人机系统是否在黑名单、或操作人员是否在黑名单。
可选的，验证模块具体用于，定期对无人机系统进行飞行适应性验证。
进一步的，如图6所示，验证模块501包括获取单元511和验证单元512。
在一些实施例中，获取单元511，用于获取无人机系统的实时时间信息；验证单元512，用于将获取的实时时间信息与上次验证时间进行对比，当获取的实时时间信息与上次验证时间的时间间隔超过预设时间间隔时，对无人机系统进行飞行适应性验证。
具体的，获取单元511可以利用卫星定位导航系统、手机通讯基站、Wi-Fi、公共网络、或无人机系统中的计时器中的至少一种，获取无人机系统的实时时间信息。
具体的，卫星定位导航系统可以包括以下系统的至少一种：全球定位系统GPS、北斗导航系统、全球导航卫星系统GLONASS、印度区域导航系统、或伽利略导航系统。
具体的，每个验证项目可以分别对应一个预设时间间隔，当获取的实时时间信息与该验证项目上次验证时间的时间间隔超过该验证项目对应的预设时间间隔时，对该验证项目进行验证；或
N个验证项目可以对应同一个预设时间间隔，当获取的实时时间信息与该N个验证项目上次验证时间的时间间隔超过所述N个验证项目对应的预设时间间隔时，对所述N个验证项目进行验证，其中， N大于或等于2。
在另一些实施例中，获取单元511，用于获取无人机系统的实时时间信息和实时位置信息；验证单元512，用于将获取的实时时间信息与上次验证时间进行对比，得到所述实时时间信息与上次验证时间的时间间隔，根据所述时间间隔和所述实时位置信息，确定需要验证的验证项目，对确定的需要验证的验证项目进行飞行适用性验证。
具体的，处置模块502用于根据验证结果，可以对无人机采取以下措施中的至少一种：限飞、禁飞、告警、强制升级固件、强制升级数据库、强制升级硬件、限定操作人员或用户类型、或强制返厂。
具体的，限飞可以包括以下措施中的至少一种：限高，限远，附加的特定区域限飞，限速，限定可飞行时间或限定可飞行次数，限定控制模式，限定构型配置。
具体的，限定可飞行时间或限定可飞行次数可以包括：在可视化地面站中显示剩余可飞行时间或次数。
进一步的，如图7所示，联网验证装置500还包括通知模块503，用于将验证结果，通过状态指示灯、声音和/或语音提示、触觉设计提示、或可视化地面站中的用户警告语指示模块中的至少一种来告知飞行人员目前的无人机系统状态是否适用于本次飞行。
进一步的，联网验证装置500还包括冗余剔除模块504，用于根据无人机和地面站需要验证的项目，确定无人机与地面站之间冗余验证项目，将所述无人机对所述冗余验证项目的上次验证时间与所述地面站对所述冗余验证项目的上次验证时间进行对比分析，确定所述冗 余验证项目的最新验证结果。
本发明实施例还提供了一种无人机系统，包括无人机和地面站，还包括如前述实施例所述的联网验证装置，该联网验证装置部署于无人机、或地面站、或第三方设备。
具体的，第三方设备可以包括服务器。
本发明还提供了一种存储介质，用于存储指令，其指令用于执行本发明所提供的联网验证方法的步骤。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其它实施例的不同之处，各个实施例之间相同或相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、 或技术领域内所公知的任意其它形式的存储介质中。
以上对本发明所提供的联网验证方法及装置、无人机系统、及存储介质进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。

Claims (33)

  1. 一种联网验证方法，其特征在于，所述方法包括：
    对无人机系统进行飞行适应性验证，验证项目包括以下至少一项：无人机系统配置、或与安全运行相关的数据配置；
    根据验证结果确定无人机系统的处置措施。
  2. 根据权利要求1所述的方法，其特征在于，所述无人机系统配置包括以下至少一种：无人机固件版本、地面站固件版本、遥控器固件版本、或无人机运行参数配置。
  3. 根据权利要求1或2所述的方法，其特征在于，所述与安全运行相关的数据库包括以下至少一种：长期限飞数据库、临时限飞数据库、导航数据库、或飞行管理数据库。
  4. 根据权利要求1至3任一项所述的方法，其特征在于，所述验证项目还包括以下至少一项：
    无人机构型、无人机机型、无人机系统是否在黑名单、操作人员是否在黑名单。
  5. 根据权利要求1至4任一项所述的方法，其特征在于，所述对无人机系统进行飞行适应性验证，包括：定期对无人机系统进行飞行适应性验证。
  6. 根据权利要求5所述的方法，其特征在于，所述定期对无人机进行飞行适应性验证，包括：
    获取所述无人机系统的实时时间信息，将所述实时时间信息与上次验证时间进行对比，当所述实时时间信息与上次验证时间的时间间 隔超过预设时间间隔时，对无人机系统进行飞行适应性验证；其中，所述上次验证时间从以下至少一种设备中获取：无人机的存储器、地面站的存储器、或服务器。
  7. 根据权利要求6所示的方法，其特征在于，所述当所述实时时间信息与上次验证时间的时间间隔超过预设时间间隔时，对无人机系统进行飞行适应性验证，包括：
    每个验证项目分别对应一个预设时间间隔，当所述实时时间信息与该验证项目上次验证时间的时间间隔超过该验证项目对应的预设时间间隔时，对该验证项目进行验证；或
    N个验证项目对应同一个预设时间间隔，当所述实时时间信息与所述N个验证项目上次验证时间的时间间隔超过所述N个验证项目对应的预设时间间隔时，对所述N个验证项目进行验证，其中，N大于或等于2。
  8. 根据权利要求6所述的方法，其特征在于，所述获取所述无人机系统的实时时间信息，包括：
    利用卫星定位导航系统、手机通讯基站、Wi-Fi、公共网络、或无人机系统中的计时器中的至少一种，获取所述无人机系统的实时时间信息。
  9. 根据权利要求8所述的方法，所述卫星定位导航系统包括以下系统的至少一种：全球定位系统GPS、北斗导航系统、全球导航卫星系统GLONASS、印度区域导航系统、或伽利略导航系统。
  10. 根据权利要求5所述的方法，其特征在于，所述定期进行无 人机飞行适应性验证，包括：
    获取所述无人机系统的实时时间信息和实时位置信息；
    将所述实时时间信息与上次验证时间进行对比，得到所述实时时间信息与上次验证时间的时间间隔；其中，所述验证时间从以下至少一种设备中获取：无人机存储器、地面站存储器、或服务器；
    根据所述时间间隔和所述实时位置信息，确定需要验证的验证项目；
    对所述确定的需要验证的验证项目进行飞行适用性验证。
  11. 根据权利要求1至10任一项所述的方法，其特征在于，所述根据验证结果确定无人机系统的处置措施，包括：
    根据所述验证结果，对无人机系统采取以下措施中的至少一种：限飞、禁飞、告警、强制升级固件、强制升级数据库、强制升级硬件、限定操作人员或用户类型、或强制返厂。
  12. 根据权利要求11所述的方法，其特征在于，所述限飞包括以下的至少一种：限高，限远，附加的特定区域限飞，限速，限定可飞行时间或限定可飞行次数，限定控制模式，限定构型配置。
  13. 根据权利要求12所述的方法，所述限定可飞行时间或限定可飞行次数包括：在可视化地面站中显示剩余可飞行时间或次数。
  14. 根据权利要求1至13任一项所述的方法，其特征在于，所述方法还包括：
    将所述验证结果，通过状态指示灯、声音、语音、触觉、或可视化地面站中的用户警告语指示模块中的至少一种来告知操作人员目 前的无人机系统状态是否适用于本次飞行。
  15. 根据权利要求1至14任一项所述方法，其特征在于，所述方法还包括：
    根据无人机和地面站需要验证的项目，确定无人机与地面站之间冗余验证项目，将所述无人机对所述冗余验证项目的上次验证时间与所述地面站对所述冗余验证项目的上次验证时间进行对比分析，确定所述冗余验证项目的最新验证结果。
  16. 一种联网验证装置，包括：
    验证模块，用于对无人机系统进行飞行适应性验证，验证项目包括以下至少一项：无人机系统配置、运行参数配置、或与安全运行相关的数据配置；
    处置模块，用于根据验证结果确定所述无人机系统的处置措施。
  17. 根据权利要求16所述的装置，其特征在于，所述无人机系统配置包括以下至少一种：无人机固件版本、地面站固件版本、遥控器固件版本、或运行参数配置。
  18. 根据权利要求16或17所述的装置，其特征在于，所述与安全运行相关的数据配置包括以下数据库的至少一种：长期限飞数据库、临时限飞数据库、导航数据库、飞行管理数据库。
  19. 根据权利要求16至18任一项所述的装置，其特征在于，所述验证项目还包括以下至少一项：
    无人机构型、无人机机型、无人机系统是否在黑名单、或操作人员是否在黑名单。
  20. 根据权利要求16至19任一项所述的装置，其特征在于，所述验证模块具体用于，定期对无人机系统进行飞行适应性验证。
  21. 根据权利要求20所述的装置，其特征在于，所述验证模块包括获取单元、验证单元；
    所述获取单元，用于获取所述无人机系统的实时时间信息；
    所述验证单元，用于将所述实时时间信息与上次验证时间进行对比，当所述实时时间信息与上次验证时间的时间间隔超过预设时间间隔时，对无人机系统进行飞行适应性验证。
  22. 根据权利要求21所述的装置，其特征在于，所述验证单元具体用于，
    每个验证项目分别对应一个预设时间间隔，当所述实时时间信息与该验证项目上次验证时间的时间间隔超过该验证项目对应的预设时间间隔时，对该验证项目进行验证；或
    N个验证项目对应同一个预设时间间隔，当所述实时时间信息与所述N个验证项目上次验证时间的时间间隔超过所述N个验证项目对应的预设时间间隔时，对所述N个验证项目进行验证，其中，N大于或等于2。
  23. 根据权利要求21所述的装置，其特征在于，所述获取单元具体用于利用卫星定位导航系统、手机通讯基站、Wi-Fi、公共网络、或无人机系统中的计时器中的至少一种，获取所述无人机系统的实时时间信息。
  24. 根据权利要求23所述的装置，其特征在于，所述卫星定位导 航系统包括以下系统的至少一种：全球定位系统GPS、北斗导航系统、全球导航卫星系统GLONASS、印度区域导航系统、或伽利略导航系统。
  25. 根据权利要求20所述的装置，其特征在于，所述验证模块包括获取单元、验证单元；
    所述获取单元，用于获取所述无人机系统的实时时间信息和实时位置信息；
    所述验证单元，用于将所述实时时间信息与上次验证时间进行对比，得到所述实时时间信息与上次验证时间的时间间隔，根据所述时间间隔和所述实时位置信息，确定需要验证的验证项目，对所述确定的需要验证的验证项目进行飞行适用性验证。
  26. 根据权利要求16至25任一项所述的装置，其特征在于，所述处置模块具体用于根据所述验证结果，对无人机采取以下措施中的至少一种：限飞、禁飞、告警、强制升级固件、强制升级数据库、强制升级硬件、限定操作人员或用户类型、或强制返厂。
  27. 根据权利要求26所述的装置，其特征在于，所述限飞包括以下措施中的至少一种：限高，限远，附加的特定区域限飞，限速，限定可飞行时间或限定可飞行次数，限定控制模式，限定构型配置。
  28. 根据权利要求27所述的装置，所述限定可飞行时间或限定可飞行次数包括：在可视化地面站中显示剩余可飞行时间或次数。
  29. 根据权利要求16至28任一项所述的装置，其特征在于，所述装置还包括通知模块，用于将所述验证结果，通过状态指示灯、声 音、语音、触觉、或可视化地面站中的用户警告语指示模块中的至少一种来告知飞行人员目前的无人机系统状态是否适用于本次飞行。
  30. 根据权利要求16至29任一项所述的装置，其特征在于，所述装置还包括冗余剔除模块，用于根据无人机和地面站需要验证的项目，确定无人机与地面站之间冗余验证项目，将所述无人机对所述冗余验证项目的上次验证时间与所述地面站对所述冗余验证项目的上次验证时间进行对比分析，确定所述冗余验证项目的最新验证结果。
  31. 一种无人机系统，包括无人机和地面站，其特征在于，还包括如权利要求16至30任一项所述的联网验证装置，所述装置部署于所述无人机、或所述地面站、或第三方设备。
  32. 如权利要求31所述的系统，所述第三方设备包括服务器。
  33. 一种存储介质，其特征在于，用于存储指令，所述指令用于执行如权利要求1至15任一项所述的联网验证方法的步骤。
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