WO2018170735A1 - Procédé de commande et dispositif de commande de véhicule aérien sans pilote, et procédé de surveillance et dispositif de surveillance de véhicule aérien sans pilote - Google Patents

Procédé de commande et dispositif de commande de véhicule aérien sans pilote, et procédé de surveillance et dispositif de surveillance de véhicule aérien sans pilote Download PDF

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Publication number
WO2018170735A1
WO2018170735A1 PCT/CN2017/077529 CN2017077529W WO2018170735A1 WO 2018170735 A1 WO2018170735 A1 WO 2018170735A1 CN 2017077529 W CN2017077529 W CN 2017077529W WO 2018170735 A1 WO2018170735 A1 WO 2018170735A1
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WIPO (PCT)
Prior art keywords
information
drone
management frame
supervisory
frame
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PCT/CN2017/077529
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English (en)
Chinese (zh)
Inventor
陈文月
尤中乾
Original Assignee
深圳市大疆创新科技有限公司
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.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780005506.3A priority Critical patent/CN108513696B/zh
Priority to PCT/CN2017/077529 priority patent/WO2018170735A1/fr
Publication of WO2018170735A1 publication Critical patent/WO2018170735A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/12—Network monitoring probes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/04—Arrangements for maintaining operational condition

Definitions

  • the monitoring and discovery technologies for drones can include phased array radar, electronic imaging, acoustic wave detection and RF signal detection, but these technologies are not yet mature enough to be used to find small drones, even It is also impossible to provide information on the identity and geographical location of the drone, and these technologies have the disadvantages of instability, short distance or low accuracy.
  • the details can be as follows: 1. Phased array radar: Because the small unmanned aerial vehicle has small volume, small reflective surface and short radar action distance, it is not easy to distinguish the target from the drone or other objects, and the probability of false detection is high. Moreover, the use of phased array radar is large, which increases the difficulty of site layout. 2.
  • the detection probability is low, secondly, the long-distance detection requires a large-caliber lens, and the third is that it is difficult to distinguish the target is a drone or For flying birds, thermal imaging technology has the same problems as above; 3.
  • Acoustic detection Compared with other technologies, the detection distance is shorter and the interference from environmental noise is large, especially when multiple UAVs appear at the same time. Identification of a single target; 4, RF signal detection: Since UAVs generally use ISM (Industrial Scientific Medical) band signals, and there are many devices using such bands, and different types of UAV signal characteristics are different, which is difficult The UAV signal is detected from the characteristic area of the RF signal. At the same time, the UAV signal is difficult to crack, and after the UAV signal is cracked, the manufacturer may perform a firmware update to repair the UAV signal. Vulnerabilities, easy to make the crack method invalid.
  • the drone can also be broadcasted by carrying an ADS-B device, and the ground is equipped with a radar device for detection to achieve supervision.
  • the ADS-B device is a high-power transmitting device (greater than 100W)
  • the radar detection on the ground has certain requirements on the size and flying height of the target aircraft.
  • small and medium-sized micro-UAVs featuring low/slow/small/multiple it is difficult to achieve efficient detection.
  • the first aspect of the present invention provides a drone control method, which may include:
  • the management frame is transmitted by the transmitter in the working channel of the communication network between the drone and the control terminal.
  • a second aspect of the present invention provides a method for supervising a drone, which may include:
  • the detector is used to acquire a management frame sent by the drone, wherein the management frame includes the supervisory information of the drone;
  • the processor is used to obtain the supervisory information of the drone in the management frame.
  • a third aspect of the present invention provides a control device, which may include:
  • a processor for acquiring supervisory information of the drone and inserting the regulatory information into the management frame
  • a fourth aspect of the present invention provides a monitoring device, which may include:
  • a detector for scanning a working channel of a communication network between the drone and the control terminal to obtain a management frame sent by the drone, wherein the management frame includes supervisory information of the drone;
  • a fifth aspect of the present invention provides a drone, which may include:
  • a control device as described in the third aspect is a control device as described in the third aspect.
  • the UAV can obtain the management frame by scanning the working channel between the UAV and the control terminal by transmitting the management frame including the supervision information.
  • the management frame demodulates the supervisory information of the drone. This method can realize the supervision of the drone without cracking the encrypted working data between the drone and the control terminal, which is beneficial to protecting the unmanned person.
  • the personal privacy of the user also solves the problem of supervision of the drone, and does not affect the normal flight of the drone.
  • FIG. 1 is a schematic diagram of data transmission of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an embodiment of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a part of a beacon frame according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of insertion of supervisory information in an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a Probe Request according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of dividing a working channel according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a Probe Response according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of an embodiment of a method for supervising a drone according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of another embodiment of a method for supervising a drone according to an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of another embodiment of a method for supervising a drone according to an embodiment of the present invention.
  • FIG. 16 is a schematic diagram of an embodiment of a control device according to an embodiment of the present invention.
  • FIG. 17 is a schematic diagram of an embodiment of a supervisory device according to an embodiment of the present invention.
  • FIG. 18 is a schematic diagram of another embodiment of a supervisory device according to an embodiment of the present invention.
  • FIG. 19 is a schematic diagram of another embodiment of a supervisory device according to an embodiment of the present invention.
  • the embodiment of the invention provides a drone control method and a control device, a drone supervision method, a supervision device and a drone for realizing supervision of the drone.
  • the drone can be connected with the control terminal to realize the flight control of the control terminal to the drone, and the drone can collect the The data is sent to the control terminal.
  • the drone can also be supervised by the supervising device, that is, the supervising device can acquire the communication data between the drone and its control terminal.
  • a drone control method and a control device a drone monitoring method, a supervisory device, and a drone are proposed, and a working channel of a communication network between the drone and the control terminal is used to transmit and carry
  • the management frame of the supervisory information the supervisory device can obtain the management frame by intercepting the working channel of the communication network between the drone and the control terminal, and can demodulate the regulatory information from the management frame to realize the supervision of the drone .
  • the embodiments of the present invention are advantageous for overcoming the problems of phased array radar, electronic imaging, acoustic wave detection, and radio frequency signal detection, such as instability, short working distance, and high probability of false detection.
  • the encrypted working data between the human machine and the control terminal is cracked, which is beneficial to protect the privacy of the user of the drone.
  • control terminal may include, but is not limited to, one of a remote controller, a smart phone, a tablet, a smart wearable device (watch, a wristband), a ground control station, a PC, a laptop, and the like.
  • a remote controller a smart phone
  • a tablet a smart wearable device (watch, a wristband)
  • a ground control station a PC, a laptop, and the like.
  • the uplink data of the UAV refers to the communication data sent from the control terminal to the UAV, and no one
  • the downlink data of the machine refers to the communication data transmitted from the drone to the control terminal.
  • both the drone and the control terminal can be used as an execution body to acquire the supervisory information of the drone during the flight of the drone.
  • the regulatory information can be further inserted into the management frame.
  • the STA when establishing a communication connection between the drone and the control terminal, the STA (station, indicating a device connected to the wireless network) can establish a connection with the AP (access point).
  • the control terminal When the UAV is a STA, the control terminal may be an AP.
  • the control terminal When the UAV is an AP, the control terminal may be an STA.
  • the STA When the STA establishes a communication connection with the AP, the STA or the AP may send the phase.
  • Corresponding management frame so that any one of the STA or the AP establishes a communication connection after responding to the management frame.
  • the connection between the STA and the AP through the management frame is the prior art. For details, refer to related information, and details are not described here.
  • the transmitter can transmit the management frame in the working channel of the communication network between the drone and the control terminal by using the transmitter.
  • the connection based on the wired communication network is not conducive to the flight control of the drone.
  • the communication network between the UAV and the control terminal may be a wireless communication network, and the wireless communication network may further be a WI. -FI network.
  • the WI-FI network between the drone and the control terminal there may be multiple working channels, and the drone or control terminal may select one of the working channels to transmit and manage. frame.
  • the transmit power of the transmitter can be adjusted, so that the management frame can be transmitted within the bandwidth of the working channel of the WI-FI network between the drone and the control terminal. transmission.
  • the UAV and the control terminal establish a communication connection through the WI-FI network described above.
  • the UAV can also pass through, but is not limited to, Bluetooth, Software Defined Radio (SDR), and customized. Any one of the modulation mode or the communication protocol is connected to the control terminal, which is not limited herein.
  • the communication protocol of the communication network between the UAV and the control terminal may be an 802.11 wireless protocol.
  • the concept covered by the scope of the disclosure of the embodiment does not deviate.
  • the WI-FI network can be replaced by another wireless communication network suitable for the 802.11 wireless protocol, and the description will not be repeated later. .
  • the transmitter may be configured on the unmanned aerial vehicle, or may be configured on the control terminal, which is not limited herein. Since the management frame sent by the control terminal is easily blocked by vegetation, buildings, mountains, etc., preferably, the transmitter can be set on the drone, and the management frame is transmitted using the downlink data of the drone.
  • the transmitter can transmit the management frame in the working channel of the communication network with the control terminal, and the supervisory device can use the detector to scan the drone and the control terminal.
  • the working channel of the communication to obtain the management frame with the supervision information.
  • the method can be used without cracking the encrypted working data between the drone and the control terminal.
  • the following embodiment will schematically illustrate the transmission of a management frame in the working channel of the WI-FI network between the UAV and the control terminal by using the UAV as the execution subject, wherein the transmitter Can be placed on a drone.
  • the management frame can be divided into a broadcast frame and a unicast frame
  • the management frame is sent in the work information of the communication network between the drone and the control terminal according to the type of the management frame.
  • the methods are inconsistent, and the following are specifically explained:
  • the management frame is a broadcast frame
  • the broadcast frame is a frame that is sent to all devices in the same network segment, where the broadcast packet is wide.
  • the data describing the destination address in the broadcast frame is set to 1 in the form of the IP address 255.255.255.255 in the third layer of the network, and the target MAC address FF: FF: FF in the second layer of the network. : FF: FF appears.
  • another embodiment of the UAV control method in the embodiment of the present invention includes:
  • the drone in order to facilitate the supervision of the drone, the drone can acquire the supervisory information of the drone during the flight of the drone.
  • the supervisory information in this embodiment is used as the information indicating the parameters related to the drone, and may include but is not limited to the identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time information of the drone.
  • the identity information may include, but is not limited to, a vendor identifier and a model of the drone; the location information of the drone may include, but is not limited to, current location information of the drone, and at least location information of the drone when it takes off.
  • the flight parameter information may include, but is not limited to, at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; the flight attitude information may include, but is not limited to, at least one of a roll angle, a pitch angle, and a yaw angle.
  • the hardware configuration information may include at least but not limited to configuration information of the payload of the drone; the check bit information may be a cyclic redundancy CRC check code; and the location information of the control terminal may include, but is not limited to, when the drone takes off. At least one of location information and location information output by the positioning device on the control terminal.
  • the drone collects itself: the drone can be equipped with a sensing system and a memory, wherein the sensing system can be used to obtain the current position information and/or flight attitude information of the drone, and the memory can store unmanned Identity information of the aircraft, flight maximum speed and/or flight maximum altitude, owner information, purchase time information, purchase location information, historical flight path information, hardware configuration information, and location information of the control terminal A variety of check digit information can be provided by the processor to verify other information, and the drone can obtain the above information stored in the memory through the processor.
  • the sensing system can include GNSS (Global Navigation Satellite System, full The ball satellite navigation system device, the GNSS device may be specifically a GPS (Global Positioning System) device, and the GNSS device or the GPS device may realize positioning of the drone to collect current position information of the drone.
  • the sensing system may further include an inertial measurement unit IMU.
  • the IMU may rely on the gyroscope to acquire the flight attitude information of the drone, and may also rely on the accelerometer to obtain the current flight speed of the drone to determine the current flight state of the drone. .
  • the sensing system in this embodiment may be an ultrasonic sensor, a radar wave sensor, a visual sensor (such as a camera), or a combination thereof, in addition to the above description, in particular, Make a limit.
  • the sensing system may be stored in the memory of the drone after acquiring the location information and/or the flight attitude information. To form the historical flight path information of the drone, and the maximum speed of flight and the maximum altitude of the flight accumulated by the drone during the historical flight.
  • the sensing system on the drone can also acquire the position information of the drone when it takes off and store it in the memory. If the drone is close to the control terminal when taking off, then The position information of the drone when taking off can also be used as the position information of the control terminal.
  • the control terminal can be provided with the positioning device, and the drone can obtain the position information output by the positioning device of the control terminal as the position information storage of the control terminal. In the memory.
  • the drone can obtain regulatory information from an external data source: one of them, on the one hand, the drone can To obtain the supervisory information sent by the uplink data of the drone in the working channel, in this case, the control terminal can collect the supervisory information of the drone, and the control terminal can use the uplink data of the drone to send the supervisory information to The drone enables the drone to obtain the regulatory information sent by the control terminal.
  • the control terminal may be provided with a sensing system, and the sensing system may locate the control terminal. After obtaining the position information collected by the sensing system, the control terminal may use the uplink data of the drone to control the terminal. The location information is sent to the drone.
  • the supervisory information of the drone can also be provided by the server or the cloud, that is, the control terminal can obtain the supervisory information from the cloud or the server, and then the control terminal passes the supervisory information through the uplink data of the drone.
  • Send to the drone the drone sends its own identity serial number to the control terminal, and the control terminal sends the identity serial number to the server or the cloud, and the server can retrieve the monitoring information of the drone according to the identity serial number, such as all of the drones.
  • Information registered mailbox, phone
  • the server sends the supervision information to the control terminal, and the drone can obtain the supervision information from the control terminal.
  • the acquisition of the supervisory information may also be collected by the unmanned part, and partially obtained from the external data source, which is not limited herein.
  • the supervisory information of the drone can be obtained in real time or periodically, which is not limited herein.
  • the drone after obtaining the supervisory information of the drone, the drone can insert the supervisory information into a specific field in the broadcast frame.
  • the broadcast frame in this embodiment may include a beacon frame and a Probe Request.
  • the STA station, indicating that the device is connected to the wireless network
  • the AP access point
  • the beacon frame can include a MAC header part, a Mandatory part, an Optional part, a MAC header part, and a Mandatory part as fixed bits of the beacon frame, which can be passed by the processor of the drone.
  • the memcpy function is written. During the writing process of the bemc frame by the memcpy function, the required information can be obtained from the virtual interface.
  • the direct copy method can be used.
  • the DA is the MAC target.
  • the MAC destination address can be FF: FF: FF: FF: FF: FF: FF
  • SA is the source MAC address
  • the source MAC address can generally be the UAV factory.
  • the MAC address segment of the application.
  • the Optional part of a beacon frame is not necessarily used. It only appears when it is needed.
  • the Optional part includes a number of reserved fields, that is, information elements. If you want to add a beacon frame structure field, you need to use it. The information element, as shown in FIG.
  • the drone when the broadcast frame sent by the drone is a Probe Request, the drone can be an STA, as shown in FIG. 7, the control terminal connected to the drone can be an AP, and the drone can obtain the obtained regulatory information. Insert into the Probe Request, the specific insertion method can refer to the insertion method of the beacon frame, which is not specifically limited here.
  • the specific field of the beacon frame is inserted into the beacon frame as an example.
  • the insertion manner of the specific information in the beacon frame may be based on different manners. :
  • an entire supervision information can be encapsulated as a whole information in a specific field in the beacon frame, so that the supervising device of the drone When supervising a drone, each time a beacon frame is acquired, a complete regulatory information can be parsed.
  • the drone can also use the processor to split an entire supervision information into a preset number of pieces of regulatory information, such as 10 pieces of regulatory information, and can At least one of the preset number of supervisory information segments is inserted into a specific field in the beacon frame, that is, 10 pieces of supervisory information pieces may be inserted into specific fields of 10 beacon frames, or multiple inserts may be inserted into one beacon frame.
  • a piece of supervisory information such as inserting 10 pieces of supervisory information into specific fields in 5 beacon frames.
  • beacon frame at least one regulatory letter is inserted into a beacon frame.
  • the number of pieces of supervisory information inserted between two beacon frames may be inconsistent, and is not limited herein.
  • the UAV can further utilize the entire regulatory information after splitting the entire regulatory information into a preset number of regulatory information segments.
  • the processor determines a sequence number of each of the preset pieces of supervisory information segments, and inserts at least one of the preset number of pieces of supervisory information segments with the sequence number corresponding to the at least one piece of supervisory information A specific field in a beacon frame.
  • the processor can also determine the serial number corresponding to the three pieces of supervisory information, such as 1, 2, and 3, so that three supervisors can be used.
  • the information segments are combined with the corresponding serial numbers according to the order of the regulatory information, such as the first regulatory information segment and the second regulatory information segment and the second, the third regulatory information segment and the third, and then the above combinations can be respectively Insert a specific field in 3 beacon frames.
  • the manner of inserting the supervision information segment and the corresponding sequence number in the specific field in the beacon frame may refer to the second manner described above, except that the supervision information segment is appended with the corresponding sequence number. For illustration purposes only, it is not limited here.
  • the policing information may be inserted in the foregoing three manners, but the type of the broadcast frame is changed, which is not limited herein.
  • the insertion manner of the specific field of the supervision information in the broadcast frame is described by only the above several examples. In practical applications, the specific fields of the supervision information in the broadcast frame may also be described by using the above examples.
  • the method of inserting the customized part may be performed in other manners. For example, when the policing information is split, the broadcast frame may be sequenced according to the splitting of the policing information, which is not limited herein.
  • the processor can acquire the working state of each of the plurality of working channels of the communication network between the drone and the control terminal by using the processor.
  • the drone in the WI-FI network, whether the drone is used as an AP or a STA to transmit a broadcast frame, Can be equipped with a channel list.
  • the drone can use the transmitter to transmit broadcast frames on any working channel on the channel list.
  • different working channels have corresponding working states, the working states are inconsistent, and the quality of the working channels is inconsistent. Therefore, in order for the drone to transmit a broadcast frame in the working channel with better channel quality, the drone can use the processor to acquire each of the plurality of working channels of the WI-FI network between the drone and the control terminal. The working state of the channel.
  • the bandwidth of the 5GHZ is 100 MHz in total, and the average is divided into 10 working channels that do not interfere with each other
  • the bandwidth of each working channel is 10 MHz, and in practical applications, there may be overlap between several working channels. That is, in the case where the bandwidth of each working channel is 10 MHz, the bandwidth of the band of 5 GHz can be divided into more than 10 working channels that interfere with each other. Therefore, based on the division of the working channel, the difference of the communication protocol, and the usage of the working channel, the drone can use the processor to acquire each of the plurality of working channels of the WI-FI network between the control terminal and the control terminal. The current bandwidth of the channel to make appropriate selections for multiple working channels.
  • the working state of the working channel may include other parameters, such as the current capacity of the working channel, the current throughput, and the current error, in addition to the current bandwidth of the working channel described above. Rate, etc., not limited here.
  • processor in this embodiment can be placed on the drone, and the description is not repeated hereafter.
  • the processor selects a working channel for transmitting a broadcast frame according to the working state
  • the processor may select a working channel for transmitting the broadcast frame according to the working state.
  • the working channel with the best working state can be selected as the working channel for transmitting the broadcast frame.
  • One working channel serves as a working channel for transmitting broadcast frames to reduce signal interference, and one working channel with the largest bandwidth can be selected as the working channel for transmitting broadcast frames.
  • drones can use the WI-FI network to use frequencies from 2400 MHz to 2500 MHz, but when the 100 MHz gap is equally divided into 14 different working channels, if the total of 14 working channels exceeds 100 MHz, then As shown in FIG. 8, there will be overlapping channels in the 2.4 GHz band, and since the working channel 1, the working channel 6 and the working channel 11 are far apart from each other, they do not overlap each other. The three most commonly used working channels of interference, then a working channel with a better working state can be selected between the three working channels as the working channel for transmitting the broadcast frame.
  • the UAV can use the transmitter to periodically transmit the broadcast frame using the downlink data of the UAV in the selected working channel.
  • the drone can set the transmission period in advance so that the transmitter can transmit the broadcast frame according to the transmission period, for example, the broadcast frame is transmitted every 5 seconds.
  • the transmitter since the transmitter is configured on the drone, the transmitter can use the downlink data of the drone to transmit the broadcast frame in the working channel selected by the processor.
  • the security of the drone may be compromised. Strengthen the security protection of the drone's regulatory information.
  • the drone can use the processor according to the preset encryption rule.
  • the supervisory information is encrypted, and the encrypted supervisory information can be inserted into the broadcast frame, so that the broadcast frame cannot be parsed by the drone's supervisory information even after being stolen.
  • the preset encryption rule may be an encryption rule known to the supervising device of the drone, so that after the scanning device scans the broadcast frame, the supervised device may perform the encrypted supervision information by using a known preset encryption rule. Declassify and use the regulatory information obtained by decryption to supervise the drone.
  • the unicast frame is a frame with only one or a specific destination address, and is only sent for the address of a certain device node, and only one or a specific node responds.
  • another embodiment of the UAV control method in the embodiment of the present invention includes:
  • the supervising device of the UAV can send a supervision request frame to the UAV to obtain the supervision information of the UAV.
  • the drone is supervised so that the drone can receive the regulatory request frame using the receiver.
  • the UAV after the UAV receives the supervision request frame sent by the supervising device of the UAV, the UAV can insert the acquired supervision information into a specific field in the unicast frame.
  • the unicast frame in this embodiment may be a Probe Response
  • the supervisory request frame received by the receiver of the drone may be a Probe Request
  • the supervisory device of the drone can be a STA
  • the drone can be an AP.
  • the supervisory device sends a Probe Request to the drone, and the drone can send a Probe to the supervisory device after receiving the Probe Request. Response.
  • the Probe Request in this embodiment may also include a MAC header part and a Frame body part, but in the Frame body part, the SSID setting may be based on different situations:
  • the monitoring device has not received the beacon frame sent by the drone (the historical supervision information of the drone is inserted into the beacon frame) or other management frame (the historical supervision information of the drone is inserted into the management frame), Or the supervisory equipment does not store any relevant information about the drone, then the regulatory The device can broadcast the Probe Request.
  • the SSID of the Frame body part can be set to 0, which is the empty SSID.
  • the supervisory device can select to broadcast the Probe Request, that is, the SSID of the Frame body part is an empty SSID, or the unicast Probe Request can be selected, and in the unicast Probe Request, the Frame
  • the SSID of the body part can be the specified SSID, which can be the SSID of the drone.
  • the Probe Request can carry the related information of the supervised device, so that the drone can respond to the Probe Request sent by the supervising device by using the Probe Response, and FIG. 4 is used, as shown in FIG.
  • the probe response includes all the parameters of the Beacon frame, and the drone can use the processor to insert the policing information in a specific field in the Probe Response.
  • the part of the beacon frame described in step 302 in the embodiment shown in FIG. will not repeat them here.
  • step 902 in this embodiment may be performed before the step 901, or may be performed simultaneously with the step 901, as long as the step 903 is performed before, which is not limited herein.
  • the processor may select a work of transmitting the unicast frame according to the working state. channel.
  • the UAV can use the transmitter to send the unicast using the downlink data of the UAV in the selected working channel. frame.
  • the unicast frame is sent in response to the RRC frame after receiving the RRC request frame from the RRC device. Therefore, in this embodiment, the unicast frame is sent without periodicity and unicast.
  • the transmission time of the frame may depend on the reception time of the supervision request frame.
  • the policing information inserted in the unicast frame may also be encrypted by using a preset encryption rule.
  • a preset encryption rule For details, refer to the content described above, and details are not described herein again.
  • the UAV control method in the embodiment of the present invention is described above from the perspective of the side of the drone.
  • the UAV supervision method in the embodiment of the present invention is described from the perspective of the supervisory device side, as shown in FIG.
  • An embodiment of the UAV supervision method in the embodiment of the present invention includes:
  • the supervisory device may use the detector to scan the working channel of the communication network between the drone and the control terminal.
  • the monitoring device may be provided with a detector, and the detector may cyclically scan on the working channel of the communication network between the drone and the control terminal to detect whether the drone is inserted into the working channel and inserted into the drone.
  • Management frame for regulatory information Based on the control of the flight control of the drone by the control terminal and the flight characteristics of the drone, the communication network between the drone and the control terminal may be a wireless communication network.
  • the wireless communication network may be a WI-FI network.
  • the communication network between the drone and the control terminal can be known to the supervisory device. Therefore, when the communication network between the drone and the control terminal is a WI-FI network, the supervisory device can use the detector to scan the working channel of the WI-FI network between the drone and the control terminal.
  • the UAV and the control terminal establish a communication connection through the WI-FI network described above.
  • the UAV can also pass through, but is not limited to, Bluetooth, Software Defined Radio (SDR), and customized.
  • SDR Software Defined Radio
  • the modulation method or the communication protocol is connected to the control terminal, and the supervisory device can also use the detector to scan the Bluetooth connection such as the drone and the control terminal.
  • Working channel which is not limited here.
  • the communication protocol of the communication network between the UAV and the control terminal may be an 802.11 wireless protocol.
  • the concept covered by the scope of the disclosure of the embodiment does not deviate.
  • the WI-FI network can be replaced by another wireless communication network suitable for the 802.11 wireless protocol, and the description will not be repeated later. .
  • the detector can be used to acquire the management frame sent by the UAV.
  • the management frame may include supervisory information of the drone.
  • the supervising device may further be provided with a processor. After the management frame sent by the UAV is acquired by using the probe, the acquired management frame may be demodulated by the processor to obtain the unmanned in the management frame. The supervisory information of the machine, so that the relevant information of the drone can be learned through the obtained supervisory information of the drone, and the supervision of the drone is realized.
  • the management frame can be divided into a broadcast frame and a unicast frame.
  • the manner in which the supervisory device obtains the management frame is different according to the type of the management frame sent by the drone, and the drone is using the WI.
  • -FI network transmission management as an example, the following specific description:
  • the management frame is a broadcast frame
  • the broadcast frame is a frame that the UAV sends to all devices in the same network segment, and the supervisory device can scan the working channel of the broadcast frame by the probe to obtain the broadcast frame.
  • another embodiment of the UAV supervision method in the embodiment of the present invention includes:
  • the detector can be used to scan multiple working channels of the communication network between the drone and the control terminal.
  • the monitoring device is provided with a detector, and one detector can perform cyclic cycle scanning on multiple working channels, for example, It is assumed that based on the communication network between the UAV and the control terminal, the plurality of working channels that the UAV can use are the working channel 1, the working channel 2, and the working channel 3, then the supervisory device can use the detector to sequentially work channel 1.
  • the working channel 2 and the working channel 3 perform cyclic scanning.
  • the receiving supervision device captures the broadcast frame time, but also the redundancy backup function.
  • the remaining detector can be used.
  • the receiving channel achieves full-band coverage, thereby improving the reliability of the regulatory equipment.
  • the restricted flight area is an area that restricts the flight of the drone.
  • the monitoring device can perform scanning in real time by using the detector, and can also perform scanning periodically, which is not limited herein.
  • the broadcast frame acquired by the monitoring device may include a beacon frame and a Probe Request.
  • the beacon frame or the Probe Request may be inserted with unsupervised information.
  • the supervisory device Based on the insertion mode of the supervisory information in the broadcast frame (this insertion mode can be known by the supervisory device, and can also be learned through the acquired supervisory information after demodulating the broadcast frame), the supervisory device acquires the periodic transmission of the drone by using the probe.
  • the supervisory device can obtain a complete supervision information by using the detector to obtain a broadcast frame periodically sent by the drone of the frame number.
  • the supervisory device needs to use the probe to obtain the preset frame number of the broadcast frame periodically sent by the drone. A complete regulatory message.
  • beacon frame and the Probe Request for the broadcast frame refer to the description of the foregoing embodiment, and details are not described herein again.
  • the supervisory device can use the processor to obtain the supervisory information of the drone from a specific field in the broadcast frame.
  • the supervisory device can insert the supervisory information into a specific field in the broadcast frame, after the supervisory device demodulates the broadcast frame by using the processor, the supervisory information of the drone can be obtained from a specific field of the broadcast frame. Further, if the drone inserts the regulatory information into a custom portion of a particular field in the broadcast frame, the supervisory device can utilize the processor to obtain the drone's supervisory information from a custom portion of the particular field of the broadcast frame.
  • the broadcast frame acquired by the supervising device is taken as a beacon frame, and the acquisition of the supervisory information is described as follows:
  • the supervisory device can use the processor to obtain a beacon frame, and then the processor can demodulate the beacon frame and parse the specific field of the Optional part of the beacon frame. So that you can get a complete regulatory information.
  • the supervising device can use the processor to demodulate the beacon frame of the preset number of frames after using the probe to obtain the beacon frame of the preset number of frames, and
  • the specific field of the Optional part of the beacon frame of the preset number of frames may be parsed (each beacon frame may have at least one piece of supervisory information), and multiple pieces of supervisory information are obtained, and multiple pieces of supervisory information are segmented according to a preset manner.
  • the combination can get a complete regulatory information.
  • each supervisory information segment has a serial number in each beacon frame
  • multiple pieces of supervisory information may be combined according to the sequence number. For example, suppose a complete supervision information is split into three pieces of supervision information, and the three pieces of supervision information and the corresponding sequence numbers 1, 2, and 3 are respectively inserted in specific fields of three beacon frames, and the supervisory device utilizes After demodulating three beacon frames, the processor can arrange and combine the three pieces of supervisory information obtained by serial number 1, 2, and 3 to obtain a complete supervision information.
  • the content of combining multiple pieces of supervisory information according to a preset manner is only an example.
  • the supervisory device may also be based on a drone to multiple pieces of supervisory information in a beacon.
  • the insertion mode of the frame and the corresponding identifier are used to perform corresponding combination of multiple pieces of supervision information.
  • the UAV can sequence the beacon frame, and if a complete supervision information is split into three pieces of supervision information.
  • the supervising device can identify multiple pieces of supervisory information according to the sequence of each beacon frame.
  • the fragments are combined, and are not limited herein.
  • the supervisory information acquired by the supervisory device may include, but is not limited to, the identity information of the drone, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, One or more of historical flight path information, hardware configuration information, check bit information, and position information of the control terminal.
  • the supervisory equipment can understand the relevant parameters of the drone and better supervise the drone. For example, by obtaining the location information of the drone in the supervisory information, the drone can be realized. Positioning.
  • the identity information may include but is not limited to the manufacturer identifier and the model of the drone;
  • the location information may include, but is not limited to, at least one of current location information of the drone and location information when the drone is taken off;
  • the flight parameter information may include, but is not limited to, a maximum flight speed, a maximum flight altitude, and a current flight speed.
  • the flight attitude information may include, but is not limited to, at least one of a roll angle, a pitch angle, and a yaw angle
  • the hardware configuration information may include at least but not limited to configuration information of a payload of the drone
  • the information may be a cyclic redundancy CRC check code
  • the location information of the control terminal may include, but is not limited to, at least one of location information when the drone is taken off, and location information output by the positioning device on the control terminal.
  • the monitoring device may be provided with a display on which the supervisory information of the drone may be displayed to visually and clearly reflect the relevant parameters of the drone to the supervisory user.
  • Information can be understood that the display manner of the supervisory information on the display can be various, such as a list, which is not limited herein.
  • the processor can further evaluate the danger level of the drone according to the regulatory information, so that different emergency measures can be formulated or started according to the dangerous level of the drone, and different Classification of dangerous levels of drones and safety supervision.
  • the hazard level can be used to describe the current safety level of the drone. The higher the hazard level, the greater the security threat to the drone, and the more unfavorable the supervision of the UAV.
  • the supervisory device may use the processor to determine the location information in the supervisory information, and may use the location information to evaluate the danger level of the drone. For example, the processor may further determine the flight of the drone according to the location information of the drone.
  • the UAV can perform intrusion detection such as a restricted area according to the position information of the drone. If the drone is closer to the flight limited area, the dangerous level will be higher.
  • the manner in which the supervisory device uses the processor to evaluate the dangerous level of the drone is in addition to the above description, and in actual applications, other methods may be adopted as long as the dangerous level of the drone can be evaluated. That is, if the detector can be configured in different areas, the position of the detector can be obtained by the processor to determine whether the drone is located in an unlawful operation area, thereby evaluating the danger level of the drone, specifically here Not limited.
  • the management frame is a unicast frame
  • another embodiment of the UAV supervision method in the embodiment of the present invention includes:
  • the 1301 in this embodiment is the same as the step 1201 in the embodiment shown in FIG. 12, and details are not described herein again.
  • the supervisory device when the supervisory device does not obtain the management frame by using the probe to scan the working channel of the communication network between the drone and the control terminal, the supervisory device may default to the management that the drone does not actively send the supervisory information. Frames, then the supervisory device can use the transmitter to transmit a regulatory request frame for the drone to obtain supervisory information for the drone.
  • the supervisory request frame may carry related information of the supervisory device, so that the drone can respond to the supervisory request frame of the supervisory device in the form of a unicast frame according to the related information of the supervisory device.
  • the supervision request frame sent by the monitoring device by using the transmitter may be a Probe Request
  • the structure of the Probe Request may refer to FIG. 7.
  • the sending of the Probe Request can be based on two different situations, that is, in the Frame body part of the Probe Request, the SSID can be empty or the SSID of the drone. For details, refer to the steps in the embodiment shown in FIG. The content of the description of 903 will not be described here.
  • the UAV After receiving the supervision request frame, the UAV uses the probe to acquire a unicast frame sent from the UAV to respond to the probe request frame.
  • the probe may receive the unicast frame sent from the drone to respond to the supervision request frame.
  • the supervisory device can continuously scan the working channel of the communication network between the drone and the control terminal in real time to prevent the unicast frame sent by the drone from being missed.
  • the policing request frame sent by the policing device can be a Probe Request
  • the unicast frame obtained by the policing device may be a Probe Response
  • the Probe Response may include all the parameters of the beacon frame. Regulatory information is inserted in the form of a beacon frame.
  • the manner in which the supervisory device obtains the unicast frame may be different according to the manner in which the policing information is inserted in the unicast frame.
  • the supervisory device can obtain a complete supervision information by using the probe to obtain a unicast frame sent by the drone of one frame each time.
  • the method may be performed before step 1301, or may be performed simultaneously with step 1301, as long as the step 1301 is performed. Execute before, this time is not limited.
  • the processor acquires the supervisory information of the drone from a specific field in the unicast frame.
  • a remote monitoring platform connected to the supervisory device may be provided.
  • FIG. 14 it is assumed that there are a drone 1, a drone 2, and a drone 3, correspondingly, There may be a control terminal 1 communicatively coupled to the drone 1 , a control terminal 2 communicatively coupled to the drone 2 , a control terminal 3 communicatively coupled to the drone 3 , and a supervisory device 1 that supervises the drone 1
  • the supervising device 2 of the drone 2, the supervising device 3 of the drone 3, and the supervising device 1, the supervising device 2, and the supervising device 3 can all communicate with the remote monitoring platform, and the remote monitoring platform can acquire multiple monitoring devices.
  • Steps 1501 to 1503 in this embodiment are the same as steps 1101 to 1103 in the embodiment shown in FIG. 11, and details are not described herein again.
  • the processor may also use the processor to send the supervisory information to the remote supervisory platform.
  • the processor may further use the processor to send the supervisory information to the remote monitoring platform, thereby realizing the supervision of the remote monitoring platform.
  • the supervisory information of the drone may be encrypted by using a preset encryption rule, then After the supervisory device obtains the supervisory information of the drone, if the detected supervisory information is the encrypted information, the preset decryption rule may be used (the preset decryption rule may be set according to the encryption rule preset by the supervisory information) Decrypt and send the decrypted regulatory information to the remote monitoring platform.
  • the preset decryption rule for the supervisory information can refer to the prior art corresponding to the encryption rule preset by the supervisory information, and details are not described herein again.
  • the UAV control method and the UAV supervision method in the embodiments of the present invention are described above.
  • the control device and the supervisory device in the embodiment of the present invention are separately described from the perspective of hardware processing. Referring to FIG. 16, the present invention is described.
  • An embodiment of the control device in the embodiment includes:
  • the transmitter 1601 and the processor 1602 (wherein the number of the processors 1602 may be one or more, and one processor 1602 is exemplified in FIG. 16).
  • the processor 1602 is configured to acquire supervisory information of the drone, and insert the supervisory information into the management frame.
  • the transmitter 1601 is configured to send a management frame in a working channel of a communication network between the drone and the control terminal.
  • the transmitter 1601 is further configured to:
  • the transmitter 1601 is further configured to:
  • a management frame is transmitted in a working channel of the communication network between the drone and the control terminal in response to the received supervisory request frame transmitted from the supervisory device.
  • the processor 1602 may be further configured to:
  • the processor 1602 may be further configured to:
  • the transmitter 1601 is further configured to:
  • the downlink data transmission management frame of the drone is used in the working channel.
  • the processor 1602 may be further configured to:
  • the transmitter 1601 can further be used for:
  • the downlink data transmission management frame of the drone is used in the working channel.
  • the processor 1602 may be further configured to:
  • the supervisory information is encrypted according to a preset encryption rule, and the preset encryption rule is an encryption rule known to the supervisory device of the drone;
  • the encrypted supervisory information is inserted into the management frame.
  • the processor 1602 may be further configured to:
  • the transmitter 1601 can further be used for:
  • a management frame is sent in the selected working channel.
  • the processor 1602 may send the management frame by the transmitter 1601 in the working channel of the communication network between the drone and the control terminal. So that the supervisory device can scan and acquire the management frame in the working channel of the communication network between the drone and the control terminal, so that the supervisory information of the drone can be obtained without a password, which is beneficial to protect the drone user. Personal privacy and implementation of supervision of drones.
  • the embodiment of the invention further provides a drone, wherein the drone includes:
  • the power system of the drone may include: a motor, an electric coil, a propeller, etc., wherein no one
  • the machine may also include a payload, such as an imaging device, an infrared imager, etc., wherein the payload may be coupled to the drone via a carrier, wherein the carrier may be a gimbal.
  • an embodiment of a supervisory device in an embodiment of the present invention includes:
  • the detector 1701 and the processor 1702 (wherein the number of the processors 1702 may be one or more, and one processor 1702 is exemplified in FIG. 17).
  • the detector 1701 is configured to scan a working channel of a communication network between the drone and the control terminal to obtain a management frame sent by the drone, wherein the management frame includes the supervisory information of the drone;
  • the processor 1702 is configured to obtain supervisory information of the drone in the management frame.
  • the detector 1701 is further configured to:
  • the detector 1701 can further be used for:
  • the drone After the drone receives the supervision request frame, it acquires a management frame sent from the drone that responds to the probe request frame.
  • the detector 1701 is further configured to:
  • the number of the detectors 1701 is one, and one detector 1701 may further be used for:
  • a plurality of working channels of the wireless communication network between the drone and the control terminal are scanned in turn.
  • the number of the detectors 1701 is multiple, and the processor 1702 may further be used to:
  • Each of the plurality of detectors 1701 may further be used to:
  • the detector 1701 is further configured to:
  • the processor 1702 can further be used to:
  • the processor 1702 may be further configured to:
  • the processor 1702 may be further configured to:
  • the monitoring device may further include a display 1704.
  • the display 1704, the display 1704 may be used to:
  • the processor 1702 may be further configured to:
  • the processor 1702 may be further configured to:
  • the detector 1701 in the supervisory device can acquire the management frame sent by the drone by scanning the working channel of the communication network between the drone and the control terminal, and the processor 1702 can further acquire the management frame.
  • the supervision information of the drone can be seen, the supervisory equipment can determine the supervision information of the drone without obtaining the password, so as to protect the personal privacy of the drone user as much as possible, and realize the supervision of the drone.
  • the present invention may also relate to a supervisory system, including a drone, a control terminal that communicates with the drone, and a supervisory device that supervises the drone, and optionally, a remote monitoring platform that communicates with the supervisory device.
  • the control terminal can be used to send a control command to the drone, and the drone can control the flight according to the received control command, and the supervisory device can be used to acquire communication data between the drone and the control terminal to achieve Human-machine supervision, remote monitoring platform can be used to manage one or more regulatory devices and remotely supervise one or more drones.
  • the disclosed system, device and method The law can be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

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Abstract

La présente invention se rapporte à un procédé de commande et un dispositif de commande de véhicule aérien sans pilote, à un procédé de surveillance et un dispositif de surveillance de véhicule aérien sans pilote, et à un véhicule aérien sans pilote, qui servent à réaliser la surveillance d'un véhicule aérien sans pilote. Le procédé de commande de véhicule aérien sans pilote consiste : à acquérir des informations de surveillance relatives à un véhicule aérien sans pilote, et à introduire les informations de surveillance dans une trame de gestion ; et à utiliser un émetteur pour envoyer la trame de gestion dans une voie de trafic d'un réseau de communication entre le véhicule aérien sans pilote et un terminal de commande.
PCT/CN2017/077529 2017-03-21 2017-03-21 Procédé de commande et dispositif de commande de véhicule aérien sans pilote, et procédé de surveillance et dispositif de surveillance de véhicule aérien sans pilote WO2018170735A1 (fr)

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PCT/CN2017/077529 WO2018170735A1 (fr) 2017-03-21 2017-03-21 Procédé de commande et dispositif de commande de véhicule aérien sans pilote, et procédé de surveillance et dispositif de surveillance de véhicule aérien sans pilote

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CN113093791A (zh) * 2021-03-24 2021-07-09 上海特金信息科技有限公司 无人机身份鉴别的控制方法、控制器、设备及介质
CN115202537A (zh) * 2022-01-18 2022-10-18 广州亿航智能技术有限公司 用户界面的控制方法、监控系统、设备及存储介质

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