WO2019061336A1 - 一种保护飞控系统的方法及电路 - Google Patents

一种保护飞控系统的方法及电路 Download PDF

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Publication number
WO2019061336A1
WO2019061336A1 PCT/CN2017/104516 CN2017104516W WO2019061336A1 WO 2019061336 A1 WO2019061336 A1 WO 2019061336A1 CN 2017104516 W CN2017104516 W CN 2017104516W WO 2019061336 A1 WO2019061336 A1 WO 2019061336A1
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Prior art keywords
flight control
control system
external system
authority
total
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PCT/CN2017/104516
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English (en)
French (fr)
Inventor
王昕�
冯健
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 CN201780069447.6A priority Critical patent/CN109937439A/zh
Priority to PCT/CN2017/104516 priority patent/WO2019061336A1/zh
Publication of WO2019061336A1 publication Critical patent/WO2019061336A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • the invention relates to the field of chip security, in particular to the protection aspect of a flight control system.
  • the flight control system (flying control system) is a flight that the drone completes take-off, air flight, mission execution, and return-to-field recovery.
  • the core system of the process realizes important functions such as UAV attitude stabilization and control, drone mission equipment management and emergency control.
  • the flight control system has problems caused by the misunderstanding of other systems, resulting in the destruction of the flight control system software, or the unauthorized system reading the contents of the flight control system, resulting in unstable system operation.
  • the existing solution to the problem in order to improve the safety and reliability of the entire system, it is necessary to improve the reliability and safety of the flight control system.
  • the protection and permission control of the system is usually implemented by pure software.
  • the embodiments of the present invention are expected to provide a system protection method and circuit, which can improve the reliability and security of the system and reduce the occupation of processor resources when protecting and controlling the flight control system. , reduce power consumption.
  • a method of protecting a flight control system comprising:
  • the total operation authority is used to determine whether the first external system can perform an operation on the flight control system;
  • Processing the operation request according to the total operation authority and the operation request comprising: allowing or preventing the first external system to operate on the flight control system.
  • a circuit for protecting a flight control system being a port connecting the flight control system and the first external system, the circuit comprising: an acquisition circuit, a receiving circuit, and a permission processing circuit;
  • the obtaining circuit is configured to obtain a total operation authority, and the total operation authority is used to determine whether the first external system can perform an operation on the flight control system;
  • the receiving circuit is configured to receive an operation request of the first external system to the flight control system
  • the rights processing circuit is configured to process the operation request according to the total operation authority and the operation request, and the processing includes: allowing or preventing the first external system to operate on the flight control system.
  • an unmanned aerial vehicle is provided.
  • a method and circuit for protecting a flight control system obtains a total operation authority, and the total operation authority is used to determine whether the first external system can perform operations on the flight control system; Determining an operation request of the first external system to the flight control system; processing the operation request according to the total operation authority and the operation request, the processing comprising: allowing or blocking the first external system to The flight control system operates.
  • This method can be used to control whether the flight control system is read and written by other external systems through the lower hardware control, which increases the difficulty of being modified during the implementation process, thereby improving the reliability and security of the system and improving the speed of the system.
  • the hardware-to-system access control multiple interaction steps of the pure software process are reduced, thereby reducing the resource consumption of the processor and the power consumption of the processor.
  • FIG. 1 is a schematic diagram of a protection flight control system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an implementation process of a method for protecting a flight control system according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram showing the structure of a circuit for protecting a flight control system according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a protection flight control system according to an embodiment of the present invention. As shown in FIG. 1 , a flight control system and an external system are included; the flight control system further includes a permission processing circuit, a flight control data bus, a software control register, and a processor. .
  • the flight control system is a system that realizes important functions such as UAV attitude stabilization and control, UAV mission equipment management and emergency control.
  • the flight control system is connected to the external system through the flight control data bus.
  • the authority processing circuit located in the flight control data bus is the hardware security and authority processing circuit.
  • the authority processing circuit is used to determine whether the external system can provide the total operation authority for the flight control system to perform operations.
  • the utility system is responsible for receiving the request of the external system for the flight control system, and determining whether the external system that issued the request is allowed to operate the flight control system according to the content of the request and the specified authority.
  • the flight control system is a system that includes a flight control subsystem, or a system that provides only flight control functionality on a single chip.
  • the external system can be a vision system, an obstacle avoidance system, a pan/tilt system, or a power control system, and the like. It can be other systems on the same chip as the flight control system, or it can be located in other systems that are included in the chip that includes the flight control system.
  • the privilege processing circuit can be a bus port circuit, and the corresponding flight control data bus is any bus that connects the external system to the flight control system, and the privilege processing circuit can also be other port circuits, such as serial peripherals. Interface circuit, etc., the corresponding bus is another signal transmission path.
  • the bus connecting the privilege processing circuit and the external system may be an electrical connection path, such as a bus or a multi-line, etc., or may be a wireless connection path, such as WIFI (Wlreless-Fldelity), Bluetooth or infrared connection and more.
  • WIFI Wired-Fldelity
  • Bluetooth infrared connection
  • system for protecting the flight control system further includes a software control register and a processor for transmitting instructions to the software control register, the control software control register configuring the rights in the rights processing circuit.
  • FIG. 2 is a schematic diagram showing an implementation process of a method for protecting a flight control system according to an embodiment of the present invention. As shown in FIG. 2, the method for protecting a flight control system includes
  • Step 201 Obtain a total operation authority
  • Step 202 Receive an operation request of the first external system to the flight control system.
  • Step 203 Process the operation according to the total operation authority and the operation request.
  • the flight control system connects the first external system through the port, and obtains the total operation authority, the operation authority includes whether the first external system is allowed to operate on the flight control system, and then receives the first external system to the flight control system.
  • the operation request determines whether the first external system is allowed to operate the flight control system according to the above total operation authority and the operation request.
  • the method for protecting the flight control system provided by the above solution can control whether the flight control system is read and written by other external systems through the lower layer hardware control, thereby increasing the difficulty of being modified in the implementation process, thereby improving the reliability of the system and Security, and improve the speed of the system; on the other hand, due to the use of hardware-to-system access control, reducing multiple interaction steps of the pure software process, thereby reducing the resource consumption of the processor and the work of the processor Consumption.
  • step 201 Specifically, for step 201;
  • the body of the method for protecting a flight control system as shown in FIG. 2 is
  • the port may be a specific judging module, such as a hardware security and privilege processing module, and the port includes a bus port, a USB interface, and the like.
  • the main body will be described later by taking the bus port as an example.
  • the flight control system is coupled to the first external system via a bus port, and the first external system can be an external system or a plurality of external systems.
  • the bus port may obtain total operational rights from an external device or may obtain total operational rights from an internal device.
  • External devices include: software control registers, programmable modules, input and output interfaces, etc.; it can also be used to burn the total operation authority in the port, obtain the total operation authority from the port, or configure the logic circuit in the form of hardware.
  • This logic circuit can realize the function of total operation authority.
  • the total operation authority includes a logic signal corresponding to the operation authority and the operation authority, and specifically, may be a lookup correspondence table of “operation authority VS logic signal”.
  • the total operating authority is used to determine whether the first external system can perform operations on the flight control system. After determining according to the total operating authority, the external system is allowed to perform operations on the flight control system, or the external device is blocked. The system performs operations on the flight control system.
  • the total operation authority is an operation authority of the external system to the flight control system, including: an operation authority corresponding to the operation content, an operation authority corresponding to the identifier information, and an operation authority corresponding to the address information. Among them, each operation authority will have its corresponding logical judgment. The total operating authority is used to determine whether the first external system can perform operations on the flight control system.
  • the total operation authority is an operation authority corresponding to the operation content, and specifically includes: an external system performs read operation (RD_EN, Read Enable) permission on the internal data of the flight control system, and the external system controls the flight control system.
  • read operation RD_EN, Read Enable
  • write operation WR_EN, Write Enable permission for internal data.
  • the read operation authority has its corresponding logical judgment, for example, allowing the external system to access the internal data of the flight control system.
  • the read operation permission can only have one configuration. For example, for the specified internal data, only the internal data in the flight control system can be read, or only the flight control system can be blocked. Internal data is read.
  • the (WR_EN, Write Enable) permission is similar to the read operation permission and will not be described again.
  • the total operation authority is an operation authority corresponding to the identification information, and the operation authority is a first special operation (Fs_EN, Frist Special Enable).
  • the total operation authority may further include at least one identifier information, and an operation authority corresponding to the identifier information, where the at least one identifier information is used to identify different external systems, respectively.
  • the operation authority corresponding to the identifier information is used to determine whether the first external system corresponding to the identifier information can perform the operation operation authority on the flight control system, and the operation authority corresponding to the identifier information is included, and the specific information includes: The system operates on the internal data of the flight control system, or prevents the external system corresponding to the identification information from operating on the internal data of the flight control system.
  • the operation authority of the internal control data of the flight control system has the corresponding logical judgment, for example, the first external system pair corresponding to the identification information is allowed.
  • the operation authority can only have one configuration. For example, only the external system corresponding to the specified identification information can be allowed to operate on the internal data in the flight control system, or can only block the designation.
  • the external system corresponding to the identification information operates on the internal data in the flight control system.
  • the total operation authority may include: an operation authority of the first external system corresponding to the internal control system of the flight control system and an operation authority corresponding to the operation content.
  • the first external system corresponding to the identification information corresponds to the first read operation (Fs_RD_EN, Frist Special Read Enable) of the internal control data of the flight control system, and the first external system corresponding to the identification information is performed on the internal data of the flight control system.
  • the operation authority is used to determine that the first external system can No operation is performed on the flight control system.
  • the first read operation permission as an example:
  • the first read operation authority of the first external system corresponding to the identification information to the internal data of the flight control system has its corresponding logical judgment, for example, the first corresponding to the identification information is allowed.
  • the first external operating system corresponding to the specified identification information may have only one configuration permission for the internal data specified in the flight control system, for example, for the external system corresponding to the same identification information, the external system
  • the external system For the internal data specified in the flight control system, the external system can only be allowed to read the internal data specified in the flight control system, or can only prevent the external system from reading the internal data specified in the flight control system. .
  • the total operation authority is an operation authority corresponding to the address information, and the operation authority is a second special operation authority (Ss_EN, Second Special Enable).
  • the total operation authority may include at least one address segment where the internal data is located in the flight control system, and the operation authority corresponding to the address segment, and the address segment may have multiple segments, and each address segment may have corresponding operation permission.
  • the identification method may also have multiple types, and may include a start value and a range size that needs to start from the start value, for example, the start value is 0xF000_0000, and the range size is 0xFFFF; can also give the start value and end point value respectively, for example: the starting value is 0xF000_0000, the end point value is 0xF000_FFFF, thus determining an address segment in the flight control system, the total operation authority can be refined To control the permissions of the specified address segment in the flight control system.
  • the operation permission corresponding to the address information is used to determine whether the external system can perform operations on the data of the specified address segment in the flight control system.
  • the total operation authority is an operation authority corresponding to the address information, and specifically includes: allowing the external system to operate the internal data of the specified address segment in the flight control system, or preventing the external system from specifying the address in the flight control system. The internal data of the segment is operated.
  • the operational authority has its corresponding logical determination, for example, allowing external system pairs
  • the operation authority can only have one configuration. For example, only the external system can be allowed to operate on the internal control data of the flight control system, or only the external system can be prevented from flying.
  • the system specifies internal data for operation.
  • the second read operation (Ss_RD_EN, Second Special Read Enable) permission for the internal data of the specified address segment in the flight control system of the external system or the internal location of the specified address segment in the flight control system for the external system
  • the second write operation (Ss_WR_EN, Second Special Write Enable) permission of the data, here and the second read operation permission as an example:
  • the second read operation authority can only have one configuration. For example, only the external system can be allowed to read the internal data specified by the flight control system, or only the external system can be blocked.
  • the flight control system specifies internal data for reading.
  • the total operation authority may include: a read operation authority corresponding to the address information and a read operation authority corresponding to the operation content.
  • the external system performs the second read operation (Ss_RD_EN, Second Special Read Enable) permission on the internal data of the specified address segment in the flight control system, and the external system reads the internal data of the flight control system (RD_EN, Read Enable). Permissions.
  • the operation authority is used to determine whether the external system can perform a read operation on the flight control system.
  • the read control permission of the external system for the internal control data of the flight control system may be used to read the flight control system by the external system, or according to the address information.
  • Corresponding read operation authority to control the external system pair The flight control system performs a read operation.
  • the read operation authority corresponding to the address information is combined with the read operation authority corresponding to the operation content to control the external system to perform a read operation on the flight control system.
  • the external system is allowed to read all internal data in the flight control system; when the external system allows the second read operation authority of the internal data of the specified address segment in the flight control system and its corresponding
  • the total operation authority may further include: an operation authority of the operation content and an operation authority corresponding to the identification information, and an external system is specified for the identification information, and the operation authority of the flight control system is implemented as described above. As stated in the example.
  • the total operation authority may further include: an operation authority for operating the content, an operation authority corresponding to the identifier information, and an operation authority corresponding to the address information, and the external system specified by the identifier information, the external system
  • the operational authority for the flight control system is as described in the above embodiment.
  • step 202 Specifically, for step 202;
  • the operation request is empty, that is, there is no operation request for specifically limiting the content of the request, and then only according to the total operation. Permission to determine whether the external system is allowed to operate on the flight control system.
  • the rights of the external system to access the flight control system are specifically as described in the foregoing embodiment, and the external system accesses the flight control system according to the foregoing authority.
  • an operation request with additional information is provided, which specifically includes: an operation request carrying the operation content, an operation request carrying the identification information, and carrying the address information. Operation request.
  • the request is processed herein based on the total operational authority and the operational request for determining to allow or prevent the external system from operating on the flight control system.
  • the external system sends an operation request carrying the operation content to the flight control system, and the operation request may be processed according to the operation content and the total operation authority of the determination operation request.
  • the operation request is divided into a read operation request and a write operation request.
  • the read operation request is taken as an example.
  • the operation request of the external system is a read operation request, the following is specifically the case:
  • the operation request of the external system is a read request
  • the total operation authority is determined in the foregoing embodiment whether the external system can perform operations on the flight control system.
  • the total operating authority allows any external system to perform operations on the flight control system
  • any external system is allowed to read the flight control system according to the operation request.
  • the total operating authority prevents any external system from performing operations on the flight control system, any external system is prevented from reading the flight control system.
  • the operation request of the external system is a read request
  • the total operation authority is an operation request including the operation content in the foregoing embodiment
  • the read operation permission in the operation content is to allow the external system to read the internal data of the flight control system.
  • the external system that sends the operation request in the embodiment is prevented from reading the flight control system. , to prevent reading internal data of the flight control system.
  • the operation request of the external system is a read request
  • the total operation authority is an operation request corresponding to the identifier information in the foregoing embodiment, and then, according to the preset setting, it is determined that Whether to allow the operation of the flight control system by an external system without identification information.
  • the operation request of the external system is a read request
  • the total operation authority is an operation request corresponding to the identifier information in the foregoing embodiment, and the operation request does not include the identifier information, thereby preventing the external system that does not carry the identifier information. Operate the flight control system.
  • the operation request of the external system is a read request
  • the total operation authority is an operation request corresponding to the address information in the foregoing embodiment
  • the read operation authority in the operation content is to allow the external system to the flight control system
  • the external system that requests the operation request in this embodiment is allowed to read the internal data specified by the flight control system, and the flight control system is read.
  • the external system pair that sends the operation request in this embodiment is blocked.
  • the flight control system specifies internal data for reading operations, preventing reading of the specified internal data of the flight control system.
  • the operation request of the external system is a read request
  • the total operation authority is an operation authority corresponding to the operation content in the foregoing embodiment and an operation authority corresponding to the identification information, because the operation request does not include the identification information, and the operation is blocked.
  • the external system carrying the identification information operates the flight control system.
  • the operation request of the external system is a read request
  • the total operation authority is the operation authority of the operation operation content and the operation authority corresponding to the address information in the above embodiment.
  • the read request and the operation authority are used to determine whether the external system can perform a read operation on the flight control system. Specifically, according to the above total operation authority, the read operation authority corresponding to the address information is combined with the read operation authority corresponding to the operation content to operate the request.
  • the operation request of the external system is a read request
  • the total operation authority may further include: an operation authority for operating the content, including an operation authority corresponding to the identifier information, and an operation authority corresponding to the address information, for the identifier
  • the external system specified by the information processes the above read request because the request does not include the specified identification information, and the external system that sends the read request is prevented from operating the flight control system.
  • the total operation authority when the total operation authority does not include an operation request for identifying information, it is determined whether the external system including the identification information can operate the flight control system according to the total operation authority.
  • the operation request of the external system includes the identification information.
  • the total operation authority is the operation authority including the identification information
  • the external information including the identification information corresponding to the logical determination is controlled according to the logical judgment corresponding to the total operation authority. Whether the system can operate the flight control system. That is, it is first logically judged whether the specified identification information and the identification information in the operation request sent by the external system are consistent, and when the inconsistency is caused, the external system is prevented from operating on the flight control system; when consistent, according to the total operation authority
  • the first operation authority controls the operation of the flight control system by the external system, and the specific method is as described in the above method.
  • the operation request of the external system includes the identification information, and when the total operation authority is an operation authority including the identification information and an operation authority of the operation content, the operation request including the identification information is issued according to the foregoing method.
  • the external system controls the read and / or write operations of the flight control system.
  • the above operations include read operations and/or write operations.
  • the operation request of the external system includes the identification information
  • the total operation authority may include: the operation authority of the operation content, the operation authority corresponding to the identifier information, and the operation authority corresponding to the address information.
  • the external system sends an operation request carrying the address information to the flight control system, and the operation request may be processed according to the operation request and the total operation authority that carry the identification information. This includes allowing and preventing the external system from operating on the flight control system.
  • the external system sends the address information to the flight control system.
  • the operation request, the total operation authority is the operation authority including the operation content, and the operation authority including the operation content is judged whether the external system is allowed to read and/or write to the flight control system, as described in the above method, and combined with the external system.
  • the sent operation request only allows the external system to operate on the address information specified by the flight control system, that is, the address information in the operation request defines the range, and the total operation authority including the operation content defines whether read and/or write is allowed. operating. Of course, this is only an implementation method.
  • the flight control system can also refer to the operation authority and the operation request in the range of the operation address, and allow or prevent the external system from operating all the data addresses of the flight control system.
  • the external system sends an operation request carrying the address information to the flight control system. If the total operation authority includes the operation authority of the identification information, the external system is blocked because the external system does not carry the relevant identification information. Operation of the flight control system.
  • the external system sends an operation request carrying the address information to the flight control system
  • the total operation authority is an operation authority including the address information
  • the external system can operate the address of the flight control system as the operation request address.
  • the intersection of the information and the address information of the total operation authority, and determining whether the external system can operate the data within the above-mentioned intersection range of the flight control system is determined based on the total operation authority. The specific determination method is as described in the above method.
  • the external system sends an operation request carrying the address information to the flight control system
  • the total operation authority is an operation authority including the address information and an operation authority of the operation content, and the operation range is performed according to the previous embodiment.
  • the operation authority to determine, specifically in each operation scope and operation authority is divided into read or write operation authority.
  • the operation request of the external system is an operation request carrying the identification information and the operation content
  • the following is specifically the following:
  • the external system sends an operation request carrying the identification information and the operation content to the flight control system.
  • the request range of the external system is determined according to the operation request, and whether the permission is allowed according to the total operation authority is determined.
  • the external system operates the flight control system.
  • the total operation authority includes the operation authority of the operation content
  • the operation range of the external system for the flight control system is determined according to the operation request of the operation content contained in the external system, specifically, the external system reads the internal data of the flight control system. And / or write operations, according to the total operating authority for the above range
  • the read operation and/or the write operation operate, as in the method of the above embodiment.
  • the external system sends an operation request carrying the identification information and the operation content to the flight control system.
  • the total operation authority includes the operation authority of the identification information
  • the external system sends an operation request carrying the identification information and the operation content to the flight control system, and when the total operation authority includes the operation authority of the operation content and the operation authority of the identification information, determining the identification information in the operation request Whether it appears in the total operation authority, if it does not appear, the operation of the external system to the flight control system is blocked; if it occurs, the intersection of the operation content in the operation request and the operation content in the total operation authority is determined according to the above method. Determine the operating range, and then control whether the external system is allowed to operate the flight control system according to the total operating authority.
  • the external system sends an operation request carrying the identification information and the operation content to the flight control system
  • the total operation authority includes the operation authority corresponding to the address information and the operation authority of the identification information, and then the operation request is determined first. Whether the identification information and the identification information in the operation authority are consistent. If they are inconsistent, the external system is prevented from operating on the specified address segment in the flight control; if they are consistent, according to the operation content and the total operation according to the operation request according to the above method.
  • the authority determines the operating range, and then determines whether the external system is allowed to operate on the address segments in different flight control systems according to the total operating authority.
  • the total operation authority further includes the operation authority corresponding to the operation content
  • the specified address segment is operated within the control; if it is consistent, one or more operation ranges are determined according to the operation content in the operation request and the address information and the operation content in the total operation authority, and it is determined whether to allow the operation within the above operation range according to the total operation authority.
  • the external system operates on the flight control system.
  • the external system sends an operation to carry the identification information to the flight control system.
  • the flight control system When requesting time, it also includes other operation requests. If the total operation authority does not include the identification information, there is no practical meaning to carry the identification information, that is, whether the address segments in different flight control systems are determined according to other operation requests and total operation authority. Allow external systems to operate.
  • the operation request of the external system is an operation request carrying the identification information and the address information
  • the following is specifically the case:
  • the foregoing operation request is similar to the processing method for carrying the operation request of the identification information and the operation content, that is, it is first determined whether the total operation authority includes the identification information, and if not, the operation request is The operation request carrying the operation content is processed, and if yes, determining whether the identification information in the operation request and the identification information in the total operation authority are consistent, and if not, preventing the external system from operating on the flight control system, if consistent, One or more operating ranges are determined according to the operation content and the total operating authority, and the total operating authority is used to determine whether the external system is allowed to operate the flight control system.
  • the operation request of the external system is an operation request carrying the operation content and the address information
  • the following is specifically the case:
  • the operation request of the external system is an operation request carrying the identification information, the operation content, and the address information
  • the following is specifically the case:
  • the upper total operating authority determines one or more operating ranges, and determines whether the external system is allowed to operate the flight control system according to the total operating authority.
  • FIG. 3 is a schematic view showing the structural composition of an apparatus for protecting a flight control system according to an embodiment of the present invention.
  • the device serves as a port connecting the flight control system and the first external system, and the device includes: an acquisition circuit 31, a receiving circuit 33, and a rights processing circuit 32;
  • the obtaining circuit 31 is configured to obtain a total operation authority, and the total operation authority is used to determine whether the first external system can perform an operation on the flight control system;
  • the receiving circuit 33 is configured to receive an operation request of the first external system to the flight control system
  • the rights processing circuit 32 is configured to process the operation request according to the total operation authority and the operation request, and the processing includes: allowing or preventing the first external system to operate on the flight control system.
  • the total operating authority includes: allowing the first external system to operate the flight control system or preventing the first external system from operating the flight control system, the first external system is any A first external system coupled to the flight control system via a bus port.
  • the total operation authority includes at least one identification information, and an operation authority corresponding to the identification information, where the at least one flag information is used to identify different external systems, respectively;
  • the operation request includes identification information of the first external system
  • the rights processing circuit 32 is further configured to process the operation request according to the operation authority corresponding to the identifier information of the first external system in the total operation authority.
  • the identification information includes address information of the first external system.
  • the total operation authority includes an operation content, and an operation authority corresponding to the operation content;
  • the operation content includes a read operation of the flight control system by the first external system and/or a write operation of the flight control system by the first external system.
  • the total operation authority further includes at least one address segment in the flight control system
  • the operation authority is specifically an operation authority corresponding to the combination of the operation content and the address segment.
  • the operation request includes an address segment
  • the rights processing circuit 32 is further configured to process the operation request according to the operation authority corresponding to the address segment in the operation request in the total operation authority.
  • the operation request includes an operation content
  • the rights processing circuit 32 is further configured to allow or prevent the first external system from performing the operation content in the operation request on the at least one address segment of the flight control system in the total operation authority.
  • the total operation authority includes at least one flag information and at least one address segment in the flight control system, and an operation authority corresponding to the combination of the identification information and the address segment, the at least one flag information Used to identify different external systems;
  • the operation request includes identification information of the first external system
  • the rights processing circuit 32 is further configured to allow or prevent the first external system from performing the operation request on at least one address segment in the flight control system, where the address segment is in the total operation authority and The address segment corresponding to the identification information of the first external system.
  • the invention also discloses an unmanned aerial vehicle, which comprises:
  • the above apparatus for protecting a flight control system is the above apparatus for protecting a flight control system.
  • the memory in this specification may include a volatile memory, such as a random-access memory (RAM); the memory may also include a non-volatile memory, such as Flash memory, hard disk drive (HDD) or solid-state drive (SSD).
  • RAM random-access memory
  • non-volatile memory such as Flash memory, hard disk drive (HDD) or solid-state drive (SSD).
  • the processor may be a central processing unit (CPU).
  • the processor may further include a hardware chip.
  • the above hardware chip may be an application specific integrated circuit (application-specific integrated circuit, ASIC), programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or the like.
  • 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 modules can be located in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CDROM, or the art. Any other form of storage medium.

Abstract

一种保护飞控系统的方法、电路及飞行器。方法包括：获取总操作权限（201），总操作权限用于判断第一外部系统能否对飞控系统执行操作；接收第一外部系统对飞控系统的操作请求（202）；根据总操作权限和操作请求对操作请求处理（203），处理包括：允许或阻止第一外部系统对飞控系统进行操作。提供了新的保护飞控系统的方法，在对飞控系统的保护和权限控制时，能够提高系统的可靠性、安全性，并且可以降低对处理器资源的占用，减小功耗。

Description

一种保护飞控系统的方法及电路 技术领域
本发明涉及芯片安全领域，尤其涉及飞控系统保护方面。
背景技术
对于一个包含多系统的芯片设计来说，总是存在系统之间相互读写的可能性，飞行控制系统(飞控系统)是无人机完成起飞、空中飞行、执行任务和返场回收等飞行过程的核心系统，实现着无人机姿态稳定和控制、无人机任务设备管理和应急控制等重要功能。
但是，飞控系统存在被其他系统误写导致飞控系统软件被破坏，或者非授权的系统读出飞控系统内容导致系统运行不稳定等问题。现有解决问题的方案中，为了提高整个系统的安全性和可靠性，就需要提高飞控系统的可靠性和安全性。通常都是通过纯软件的方式来实现对系统的保护和权限控制。
使用纯软件的方式只能在接口层面通过纯软件控制的方式来实现对系统的保护和权限控制。但是缺乏硬件层面的控制，容易在实施的过程中被改动，不利于提高系统的可靠性和安全性
发明内容
有鉴于此，本发明实施例期望提供一种系统的保护方法及电路，在对飞控系统的保护和权限控制时，能够提高系统的可靠性、安全性，并且可以降低对处理器资源的占用，减小功耗。
第一方面，提供了一种保护飞控系统的方法，所述方法包括：
获取总操作权限，所述总操作权限用于判断所述第一外部系统能否对所述飞控系统执行操作；
接收所述第一外部系统对所述飞控系统的操作请求；
根据所述总操作权限和所述操作请求对所述操作请求处理，所述处理包括：允许或阻止所述第一外部系统对所述飞控系统进行操作。
第二方面，提供了一种保护飞控系统的电路，所述电路作为连接所述飞控系统和第一外部系统的端口，所述电路包括：获取电路、接收电路和权限处理电路；其中，
所述获取电路：用于获取总操作权限，所述总操作权限用于判断所述第一外部系统能否对所述飞控系统执行操作；
所述接收电路：用于接收所述第一外部系统对所述飞控系统的操作请求；
所述权限处理电路：用于根据所述总操作权限和所述操作请求对所述操作请求处理，所述处理包括：允许或阻止所述第一外部系统对所述飞控系统进行操作。
第三方面，提供了一种无人飞行器。
本发明实施例所提供的一种保护飞控系统的方法及电路，获取总操作权限，所述总操作权限用于判断所述第一外部系统能否对所述飞控系统执行操作；接收所述第一外部系统对所述飞控系统的操作请求；根据所述总操作权限和所述操作请求对所述操作请求处理，所述处理包括：允许或阻止所述第一外部系统对所述飞控系统进行操作。使用该方法可以通过更加底层的硬件控制是否允许飞控系统被其他外部系统读写，增加了在实施过程中被改动的难度，从而提高了系统的可靠性和安全性，并且提升了系统的速度；另一方面，由于采用了硬件对系统的权限控制，减少了纯软件过程的多个交互步骤，从而减小了对处理器的资源占用和处理器的功耗。
附图说明
为了更清楚地说明本发明实施例中的技术方案，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性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例一种保护飞控系统的示意图；
图2为本发明实施例一种保护飞控系统的方法的实现流程示意图；
图3位本发明实施例一种保护飞控系统的电路的组成结构示意图。
具体实施方式
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，都属于本发明保护的范围。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
图1为本发明实施例一种保护飞控系统的示意图，如图1所示，包括飞控系统和外部系统；飞控系统又包括权限处理电路、飞控数据总线、软件控制寄存器和处理器。
飞控系统为实现无人机姿态稳定和控制、无人机任务设备管理和应急控制等重要功能的系统。飞控系统通过飞控数据总线和外部系统相连，位于飞控数据总线的权限处理电路为硬件安全和权限处理电路，权限处理电路用于判断外部系统是否能够对飞控系统执行操作提供总操作权限，包括多种权限，权限处理电路同时负责接收外部系统对飞控系统的请求，根据该请求的内容和指定的权限，判断是否允许发出该请求的外部系统对飞控系统进行操作。
在某些实施例中，飞控系统为包括了飞控子系统在内的系统，也可以是在一个芯片上仅提供飞控功能的系统。
在某些实施例中，外部系统可以是视觉系统、避障系统、云台系统或者电源控制系统等等。可以是和飞控系统在同一个芯片上其他系统，也可以是位于与包括了飞控系统的芯片中的其他系统。
在某些实施例中，权限处理电路可以为总线端口电路，相应的飞控数据总线为任意一个连接外部系统和飞控系统的总线，权限处理电路也可以是其他端口电路，如串行外设接口电路等等，相应的总线为其他信号传递通路。
在某些实施例中，权限处理电路和外部系统连接的总线可以是电连接通路，例如总线或者多线等等；也可以是无线连接通路，例如：WIFI(Wlreless-Fldelity，无线保真)、蓝牙或者红外线连接等等。
在某些实施例中，保护飞控系统的系统还包括软件控制寄存器和处理器，该处理器用于给软件控制寄存器发送指令，控制软件控制寄存器对权限处理电路中的权限进行配置。
图2示出了本发明实施例的一种保护飞控系统的方法的实现流程示意图，如图2所示，该保护飞控系统的方法包括
步骤201：获取总操作权限；
步骤202：接收第一外部系统对所述飞控系统的操作请求；
步骤203：根据所述总操作权限和所述操作请求对所述操作处理。
本发明实施例中，飞控系统通过端口连接第一外部系统，获取了总操作权限，该操作权限包括是否允许第一外部系统对飞控系统进行操作，然后接收第一外部系统对飞控系统的操作请求，根据上述总操作权限和操作请求确定是否允许第一外部系统对飞控系统进行操作。
通过上述方案提供的保护飞控系统的方法，可以通过更加底层的硬件控制是否允许飞控系统被其他外部系统读写，增加了在实施过程中被改动的难度，从而提高了系统的可靠性和安全性，并且提升了系统的速度；另一方面，由于采用了硬件对系统的权限控制，减少了纯软件过程的多个交互步骤，从而减小了对处理器的资源占用和处理器的功耗。
具体的，对于步骤201；
在某些实施例中，如图2所示的保护飞控系统的方法的主体为可以为 端口，可以为特定的判断模块，例如：硬件安全和权限处理模块，所述端口包括总线端口，USB接口等等。主体在后续以总线端口为例进行说明。
在某些实施例中，飞控系统通过总线端口连接第一外部系统，第一外部系统，可以为一个外部系统，也可以为多个外部系统。
在某些实施例中，总线端口可以从外部设备获取总操作权限，也可以从内部设备获得总操作权限。外部设备包括：软件控制寄存器、可编程模块、输入输出接口等设备；也可以是将总操作权限烧录在端口中，从端口获取总操作权限，也可以是以硬件的形式配置为逻辑电路，该逻辑电路可以实现总操作权限的功能。总操作权限包括了操作权限和操作权限对应的逻辑信号，具体的，可以是“操作权限VS逻辑信号”的查找对应表。
在某些实施例中，总操作权限用于判断第一外部系统能否对飞控系统执行操作具体分为，通过根据总操作权限判断后，允许外部系统对飞控系统执行操作，或者阻止外部系统对飞控系统执行操作。
在某些实施例中，总操作权限为外部系统对飞控系统的操作权限，包括：操作内容对应的操作权限、包含标识信息对应的操作权限、包含了地址信息对应的操作权限。其中，每种操作权限都会有其对应的逻辑判断。所述总操作权限用于判断所述第一外部系统能否对飞控系统执行操作。
具体的，在某些实施例中，总操作权限为操作内容对应的操作权限,具体包括：外部系统对飞控系统内部数据进行的读操作(RD_EN，Read Enable)权限、外部系统对飞控系统内部数据进行的写操作(WR_EN,Write Enable)权限。
在某些实施例中，对于外部系统对飞控系统内部数据进行的读操作(RD_EN，Read Enable)权限，读操作权限具有其对应的逻辑判断，例如，允许外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝1，或阻止外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝0。其中，对于指定的内部数据，其读操作权限只能有一种配置，例如，对于指定的内部数据，只能允许对飞控系统内该内部数据进行读取，或者只能阻止对飞控系统该内部数据进行读取。对于写操作 (WR_EN，Write Enable)权限，和读操作权限类似，再次不再赘述。
在某些实施例中，为了进一步细化对飞控系统的操作权限的控制，总操作权限为包含标识信息对应的操作权限，该操作权限为第一特殊操作(Fs_EN，Frist Special Enable)。
具体的，总操作权限还可以包括至少一个标识信息，以及所述标识信息所对应的操作权限，所述至少一个标识信息分别用于标识不同的外部系统。标识信息可以有多个，每个标识信息可以对应不同的外部系统，用于确定该外部系统对飞控系统内部数据的操作权限，其中，标识信息可以为外部系统的IP信息或者MAC信息等。包含标识信息对应的操作权限用于判断所述标识信息对应的第一外部系统能否对飞控系统执行操作总操作权限为包含标识信息对应的操作权限，具体包括：允许标识信息所对应的外部系统对飞控系统内部数据进行操作，或阻止标识信息所对应的外部系统对飞控系统内部数据进行操作。
在某些实施例中，对于标识信息所对应的第一外部系统对飞控系统内部数据的操作权限，该操作权限具有其对应的逻辑判断，例如，允许标识信息所对应的第一外部系统对飞控系统内部数据的第一操作权限和其对应的逻辑判断Fs_EN＝1，或阻止标识信息所对应的第一外部系统对飞控系统内部数据的第一操作权限和其对应的逻辑判断Fs_EN＝0。其中，对于指定标识信息所对应的外部系统，其操作权限只能有一种配置，例如，只能允许指定标识信息所对应的外部系统对飞控系统内的内部数据进行操作，或者只能阻止指定标识信息所对应的外部系统对飞控系统内的内部数据进行操作。
在某些实施例中，所述总操作权限可以同时包括：标识信息所对应的第一外部系统对飞控系统内部数据的操作权限和操作内容对应的操作权限。具体包括：标识信息对应的第一外部系统对飞控系统内部数据进行的第一读操作(Fs_RD_EN，Frist Special Read Enable)权限、标识信息对应的第一外部系统对飞控系统内部数据进行的第一写操作(Fs_WR_EN,Frist Special Write Enable)权限。所述操作权限用于判断所述第一外部系统能 否对飞控系统执行操作。这里以第一读操作权限为例：
在某些实施例中，对于标识信息对应的第一外部系统对飞控系统内部数据进行的第一读操作权限，第一读操作权限具有其对应的逻辑判断，例如，允许标识信息对应的第一外部系统对飞控系统内部数据的第一读操作权限和其对应的逻辑判断Fs_RD_EN＝1，或阻止标识信息对应的外部系统对飞控系统内部数据的第一读操作权限和其对应的逻辑判断Fs_RD_EN＝0。其中，对于指定的标识信息对应的第一外部系统对飞控系统中指定的内部数据，其第一读操作权限只能有一种配置，例如，对于同一个标识信息对应的外部系统，该外部系统对飞控系统内指定的内部数据，只能允许该外部系统对该飞控系统内指定的内部数据进行读取，或者只能阻止该外部系统对该飞控系统内指定的内部数据进行读取。
在某些实施例中，为了进一步细化对飞控系统的操作权限的控制，总共操作权限为包含地址信息对应的操作权限，该操作权限为第二特殊操作权限(Ss_EN，Second Special Enable)。
具体的，总操作权限可以包括飞控系统中内部数据所在的至少一个地址段，以及所述地址段所对应的操作权限，地址段可以有多段，可以是每一个地址段都有对应的操作权限，也可以是多个地址段对应一个操作权限；标识的方法也可以有多种，可以包括一个起始值和需要从起始值开始的范围大小，例如：起始值为0xF000_0000，范围大小为0xFFFF；也可以是分别给出起始值和终点值，例如：起始值为0xF000_0000，终点值为0xF000_FFFF，这样就确定了飞控系统中的某个地址段，则总操作权限可以细化设置为对飞控系统中指定地址段进行权限控制。包含地址信息对应的操作权限用于判断外部系统能否对飞控系统中指定地址段的数据执行操作。
在某些实施例中，总操作权限为包含地址信息对应的操作权限，具体包括：允许外部系统对飞控系统内指定地址段的内部数据进行操作，或阻止外部系统对飞控系统内指定地址段的内部数据进行操作。
在某些实施例中，对于外部系统对飞控系统内指定地址段的内部数据的操作权限，该操作权限具有其对应的逻辑判断，例如，允许外部系统对 飞控系统内指定地址段的内部数据的第二操作权限和其对应的逻辑判断Ss_EN＝1，或阻止外部系统对飞控系统内指定地址段的内部数据的第二操作权限和其对应的逻辑判断Ss_EN＝0。其中，对于指定地址信息所对应的飞控系统内部数据，其操作权限只能有一种配置，例如，只能允许外部系统对飞控系统指定内部数据进行操作，或者只能阻止外部系统对飞控系统指定内部数据进行操作。
在某些实施例中，对于外部系统对飞控系统内指定地址段的内部数据进行的第二读操作(Ss_RD_EN，Second Special Read Enable)权限或者对于外部系统对飞控系统内指定地址段的内部数据进行的第二写操作(Ss_WR_EN，Second Special Write Enable)权限，这里与第二读操作权限为例：
第二读操作权限具有其对应的逻辑判断，例如，允许外部系统对飞控系统内指定地址段的内部数据的第二读操作权限和其对应的逻辑判断Ss_RD_EN＝1，或阻止外部系统对飞控系统内指定地址段的内部数据的第二读操作权限和其对应的逻辑判断Ss_RD_EN＝0。对于指定地址信息所对应的飞控系统内部数据，其第二读操作权限只能有一种配置，例如，只能允许外部系统对飞控系统指定内部数据进行读取，或者只能阻止外部系统对飞控系统指定内部数据进行读取。
在某些实施例中，所述总操作权限可以同时包括：地址信息对应的读操作权限和操作内容对应的读操作权限。具体包括：外部系统对飞控系统内指定地址段的内部数据进行的第二读操作(Ss_RD_EN，Second Special Read Enable)权限、外部系统对飞控系统内部数据进行的读操作(RD_EN,Read Enable)权限。所述操作权限用于判断所述外部系统能否对飞控系统执行读操作。
具体的，在某些实施例中，对于操作权限的判定，这里可以按照外部系统对飞控系统内部数据进行的读操作权限来对控制外部系统对飞控系统进行读操作，也可以按照地址信息对应的读操作权限来对控制外部系统对 飞控系统进行读操作。
另一实施例中，通过地址信息对应的读操作权限结合操作内容对应的读操作权限来控制外部系统对飞控系统进行读操作。例如，当允许外部系统对飞控系统内指定地址段的内部数据的第二读操作权限和其对应的逻辑判断Ss_RD_EN＝1和允许外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝1同时存在时，允许外部系统对飞控系统内的所有内部数据进行读操作；当允许外部系统对飞控系统内指定地址段的内部数据的第二读操作权限和其对应的逻辑判断Ss_RD_EN＝1和阻止外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝0同时存在时，只允许外部系统对飞控系统内指定地址段内的内部数据进行读操作；当阻止外部系统对飞控系统内指定地址段的内部数据的第二读操作权限和其对应的逻辑判断Ss_RD_EN＝0和允许外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝1同时存在时，只允许外部系统对飞控系统内除指定地址段之外的内部数据进行读操作；当阻止外部系统对飞控系统内指定地址段的内部数据的第二读操作权限和其对应的逻辑判断Ss_RD_EN＝0和阻止外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝0同时存在时，阻止外部系统对飞控系统内的所有内部数据进行读操作。
进一步的，在某些实施例中，所述总操作权限还可以同时包括：操作内容的操作权限和标识信息对应的操作权限，对于标识信息指定外部系统，对飞控系统的操作权限如上述实施例所述。
在某些实施例中，所述总操作权限还可以同时包括：操作内容的操作权限，包含标识信息对应的操作权限，包含地址信息对应的操作权限，对于标识信息指定的外部系统，该外部系统对飞控系统的操作权限如上述实施例所述。
具体的，对于步骤202；
在某些实施例中，外部系统访问飞控系统内部数据时，提出操作请求为空，即没有对请求内容进行具体限定的操作请求，这时仅仅根据总操作 权限来判断是否允许外部系统对飞控系统进行操作。在步骤203中，外部系统访问飞控系统的权限具体如上述实施例所述，根据上述权限来对外部系统访问飞控系统进行处理。
在某些实施例中，外部系统访问飞控系统内部数据时，提出带有附加信息的操作请求，具体包括：携带了操作内容的操作请求、携带了标识信息的操作请求，和携带了地址信息的操作请求。在步骤203中，这里根据总操作权限和所述操作请求对所述请求进行处理，用于确定允许或阻止所述外部系统对飞控系统进行操作。
具体的，在某些实施例中，外部系统向飞控系统发送了携带了操作内容的操作请求，则可以根据确定操作请求的操作内容和总操作权限对操作请求进行处理。
操作请求分为读操作请求和写操作请求，这里以读操作请求为例，当外部系统的操作请求为读操作请求时，具体有如下情况：
具体的，在某些实施例中，外部系统的操作请求为读请求，总操作权限为上述实施例中判断外部系统能否对飞控系统执行操作。当总操作权限允许任何一个外部系统对飞控系统执行操作，则按照操作请求允许任何一个外部系统对飞控系统进行读操作。当总操作权限阻止任何一个外部系统对飞控系统执行操作，则阻止任何一个外部系统对飞控系统进行读操作。
在某些实施例中，外部系统的操作请求为读请求，总操作权限为上述实施例中包含操作内容的操作请求，当操作内容中读操作权限为允许外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝1时，允许发送本实施例中操作请求的外部系统对飞控系统进行读操作，读取飞控系统的内部数据。当操作内容中读操作权限为阻止外部系统对飞控系统内部数据的读操作权限和其对应的逻辑判断RD_EN＝0时，阻止发送本实施例中操作请求的外部系统对飞控系统进行读操作，阻止读取飞控系统的内部数据。
在某些实施例中，外部系统的操作请求为读请求，总操作权限为上述实施例中包含标识信息对应的操作请求，这时，根据预先的设置，确定是 否允许不带标识信息的外部系统对飞控系统的操作。
在某些实施例中，外部系统的操作请求为读请求，总操作权限为上述实施例中包含标识信息对应的操作请求，操作请求中并未包含标识信息，因此阻止未携带标识信息的外部系统对飞控系统进行操作。
在某些实施例中，外部系统的操作请求为读请求，总操作权限为上述实施例中包含地址信息对应的操作请求，这时，当操作内容中读操作权限为允许外部系统对飞控系统内指定地址段的内部数据的第二操作权限和其对应的逻辑判断Ss_EN＝1时，允许发送本实施例中操作请求的外部系统对飞控系统指定内部数据进行读操作，读取飞控系统的指定内部数据。当操作内容中读操作权限为阻止外部系统对飞控系统内指定地址段的内部数据的第一操作权限和其对应的逻辑判断Ss_EN＝0时，阻止发送本实施例中操作请求的外部系统对飞控系统指定内部数据进行读操作，阻止读取飞控系统的指定内部数据。
在某些实施例中，外部系统的操作请求为读请求，总操作权限为上述实施例中操作内容的操作权限和标识信息对应的操作权限，因为操作请求中并未包含标识信息，则阻止未携带标识信息的外部系统对飞控系统进行操作。
在某些实施例中，外部系统的操作请求为读请求，总操作权限为上述实施例中操作操作内容的操作权限和地址信息对应的操作权限。所述读请求和所述操作权限用于判断所述外部系统能否对飞控系统执行读操作。具体按照上述总操作权限为地址信息对应的读操作权限结合操作内容对应的读操作权限来对请求进行操作。
在某些实施例中，外部系统的操作请求为读请求，所述总操作权限还可以同时包括：操作内容的操作权限，包含标识信息对应的操作权限，包含地址信息对应的操作权限，对于标识信息指定的外部系统，对于上述读请求的处理则因为请求中不包含指定的标识信息，阻止发送读请求的外部系统对飞控系统进行操作。
当外部系统的操作请求为携带了标识信息的操作请求时，具体有如下 情况：
具体的，在某些实施例中，当总操作权限不包括标识信息的操作请求时，则根据总操作权限确定包括标识信息的外部系统是否可以对飞控系统进行操作。
在某些实施例中，外部系统的操作请求中包括标识信息，当总操作权限为包括标识信息的操作权限时，根据总操作权限对应的逻辑判断来控制与逻辑判断对应的包括标识信息的外部系统是否可以对飞控系统进行操作。即，先逻辑判断指定的标识信息和外部系统发出的操作请求中的标识信息是否一致，当不一致的时候，阻止该外部系统对飞控系统进行操作；当一致的时候，根据总操作权限对应的第一操作权限对该外部系统对飞控系统的操作进行控制，具体的方法如上述方法所述。
具体的，在某些实施例中，外部系统的操作请求中包括标识信息，当总操作权限为包括标识信息的操作权限和操作内容的操作权限时，按照上述方法，对发出包括标识信息操作请求的外部系统对飞控系统的读和/或写操作进行控制。
具体的，在某些实施例中，上述操作包括读操作和/或写操作。
在某些实施例中，外部系统的操作请求中包括标识信息，总操作权限可同时包括：操作内容的操作权限，包含标识信息对应的操作权限，包含地址信息对应的操作权限。这时，根据操作请求中的标识信息和总操作权限中的标识信息对应的操作权限，判断两个标识信息是否一致，当一致时按照总操作权限对应的处理方法控制外部系统对飞控系统的操作，当两个标识信息不一致时，阻止该外部系统对飞控系统进行操作。
当外部系统的操作请求为携带了地址信息的操作请求时，具体有如下情况：
具体的，在某些实施例中，外部系统向飞控系统发送了携带地址信息的操作请求，则可以根据携带了标识信息的操作请求和总操作权限对操作请求进行处理。包括允许和阻止该外部系统对飞控系统进行操作。
具体的，在某些实施例中，外部系统向飞控系统发送了携带地址信息 的操作请求，总操作权限为包含操作内容的操作权限，则按照包含了操作内容的操作权限判断是否允许外部系统对飞控系统的读和/或写操作，具体见上述方法，并结合外部系统发送的操作请求，只允许外部系统对飞控系统指定地址信息进行操作，即：操作请求中的地址信息限定了范围，而包括了操作内容的总操作权限限定了是否允许进行读和/或写操作。当然这只是一种实施方法，飞控系统也可以按照操作权限和操作请求中在操作地址上范围较大的为参考，则允许或者阻止该外部系统对飞控系统全部数据地址进行操作。
在某些实施例中，外部系统向飞控系统发送了携带地址信息的操作请求，只要总操作权限包含了标识信息的操作权限，则因为外部系统并未携带相关标识信息，则阻止该外部系统对飞控系统的操作。
在某些实施例中，外部系统向飞控系统发送了携带地址信息的操作请求，总操作权限为包含了地址信息的操作权限，则外部系统可以对飞控系统的操作范围为操作请求的地址信息和总操作权限的地址信息的交集，而判断外部系统是否可以对飞控系统的上述交集范围内的数据进行操作是根据总操作权限来进行判定的。具体的判定方法如上述方法所述。
在某些实施例中，外部系统向飞控系统发送了携带地址信息的操作请求，总操作权限为包含了地址信息的操作权限和操作内容的操作权限，则按照上一实施例中进行操作范围和操作权限进行判定，具体在每个操作范围和操作权限上又分为读或者写的操作权限。
在上述基础上进一步的，当外部系统的操作请求为携带了标识信息和操作内容的操作请求时，具体有如下情况：
具体的，在某些实施例中，外部系统向飞控系统发送了携带标识信息和操作内容的操作请求，这时根据操作请求确定了外部系统的请求范围，而根据总操作权限来判断是否允许外部系统对飞控系统进行操作。当总操作权限包括操作内容的操作权限时，外部系统的对飞控系统的操作范围根据外部系统内包含的操作内容的操作请求来确定，具体包括，外部系统对飞控系统内部数据的读操作和/或写操作，根据总操作权限的对上述范围内 的读操作和/或写操作进行操作，具体如上述实施例中的方法。
在某些实施例中，外部系统向飞控系统发送了携带标识信息和操作内容的操作请求，当总操作权限包括标识信息的操作权限时，判断操作请求中的标识信息是否有在总操作权限中出现，如果没有出现，则阻止该外部系统对飞控系统的操作；如果有出现，则先确定操作范围，具体为对内容的读和/或写，根据总操作权限判断是否允许该外部系统对飞控系统数据进行操作。
在某些实施例中，外部系统向飞控系统发送了携带标识信息和操作内容的操作请求，当总操作权限包括操作内容的操作权限和标识信息的操作权限时，判断操作请求中的标识信息是否有在总操作权限中出现，如果没有出现，则阻止该外部系统对飞控系统的操作；如果有出现，则再按照上述方法确定操作请求中操作内容和总操作权限中操作内容的交集以确定操作范围，再根据总操作权限来控制是否允许该外部系统对飞控系统进行操作。
在某些实施例中，外部系统向飞控系统发送了携带标识信息和操作内容的操作请求，总操作权限包括地址信息对应的操作权限和标识信息的操作权限，这时先确定操作请求内的标识信息和操作权限内的标识信息是否一致，若不一致，则阻止该外部系统对飞控内指定地址段进行操作；若一致，则根据按照上述方法这时先根据操作请求的操作内容和总操作权限确定操作范围，然后再根据总操作权限判断是否允许外部系统对于不同的飞控系统内的地址段进行操作。
若在上述基础上，总操作权限还包括操作内容对应的操作权限时，这时先确定操作请求内的标识信息和总操作权限内的标识信息是否一致，若不一致，则阻止该外部系统对飞控内指定地址段进行操作；若一致，根据操作请求中的操作内容和总操作权限内地址信息和操作内容确定一个或者多个操作范围，在根据总操作权限判断是否允许在上述操作范围内允许该外部系统对飞控系统进行操作。
在某些实施例中，外部系统向飞控系统发送了携带标识信息的操作请 求时，还包括其他的操作请求，若总操作权限不包括标识信息，则携带标识信息并无实际意义，即按照其他的操作请求和总操作权限判断对于不同的飞控系统内的地址段是否允许外部系统进行操作。
当外部系统的操作请求为携带了标识信息和地址信息的操作请求时，具体有如下情况：
具体的，在某些实施例中，跟上述操作请求为携带标识信息和操作内容的操作请求的处理方法类似，即先判定总操作权限中是否含有标识信息，若不含有，则按照操作请求为携带操作内容的操作请求进行处理，若含有，则确定操作请求内的标识信息和总操作权限内的标识信息是否一致，若不一致，则阻止该外部系统对飞控系统的操作，若一致，则按照操作内容和总操作权限确定一个或者多个操作范围，按照总操作权限来确定是否允许该外部系统对飞控系统进行操作。
当外部系统的操作请求为携带了操作内容和地址信息的操作请求时，具体有如下情况：
具体的，在某些实施例中，跟上述操作请求的处理方法类似，先根据操作请求中的地址信息和操作内容加上总操作权限确一个或者多个操作范围，然后根据总操作权限确定该操作范围内，是否允许外部系统对飞控系统进行操作。
当外部系统的操作请求为携带了标识信息，操作内容和地址信息的操作请求时，具体有如下情况：
具体的，在某些实施例中，跟上述操作请求的处理方法类似，即先判定总操作权限中是否含有标识信息，若不含有，则按照操作请求为携带操作内容和地址信息的操作请求进行处理，若含有，则确定操作请求内的标识信息和总操作权限内的标识信息是否一致，若不一致，则阻止该外部系统对飞控系统的操作，若一致，则按照操作内容和地址信息加上总操作权限确定一个或者多个操作范围，按照总操作权限来确定是否允许该外部系统对飞控系统进行操作。
图3示出了本发明实施例的一种保护飞控系统的装置的结构组成示意 图，如图3所示，所述装置作为连接所述飞控系统和第一外部系统的端口，所述装置包括：获取电路31、接收电路33和权限处理电路32；其中，
所述获取电路31：用于获取总操作权限，所述总操作权限用于判断所述第一外部系统能否对所述飞控系统执行操作；
所述接收电路33：用于接收所述第一外部系统对所述飞控系统的操作请求；
所述权限处理电路32：用于根据所述总操作权限和所述操作请求对所述操作请求处理，所述处理包括：允许或阻止所述第一外部系统对所述飞控系统进行操作。
优选的，所述总操作权限包括：允许所述第一外部系统对所述飞控系统进行操作或者阻止所述第一外部系统对所述飞控系统进行操作，所述第一外部系统为任何与所述飞控系统通过总线端口连接的第一外部系统。
优选的，所述总操作权限包括至少一个标识信息，以及所述标识信息所对应的操作权限，所述至少一个标志信息分别用于标识不同的外部系统；
所述操作请求包括所述第一外部系统的标识信息；
所述权限处理电路32还用于根据所述第一外部系统的标识信息在所述总操作权限中对应的操作权限，对所述操作请求处理。
优选的，所述标识信息包括第一外部系统的地址信息。
优选的，所述总操作权限包括操作内容，以及所述操作内容对应的操作权限；
其中，所述操作内容包括所述第一外部系统对所述飞控系统的读操作和/或所述第一外部系统对所述飞控系统的写操作。
优选的，所述总操作权限还包括所述飞控系统中至少一个地址段；
所述操作权限具体是所述操作内容和地址段的组合对应的操作权限。
优选的，所述操作请求包括地址段；
所述权限处理电路32还用于根据所述操作请求中的地址段在所述总操作权限中对应的操作权限，对所述操作请求处理。
优选的，所述操作请求包括操作内容；
所述权限处理电路32还用于允许或阻止所述第一外部系统对所述飞控系统在所述总操作权限中的所述至少一个地址段执行所述操作请求中的操作内容。
优选的，所述总操作权限包括至少一个标志信息和所述飞控系统中至少一个地址段，以及与所述标识信息和所述地址段的组合所对应的操作权限，所述至少一个标志信息分别用于标识不同的外部系统；
所述操作请求包括所述第一外部系统的标识信息；
所述权限处理电路32还用于允许或阻止所述第一外部系统对所述飞控系统中至少一个地址段执行所述操作请求，所述地址段为所述总操作权限中的与所述第一外部系统的标识信息相对应的地址段。
本发明还公开了一种无人飞行器，其特征在于，包括：
上述的一种保护飞控系统的装置。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个......”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
其中，本说明书中的存储器可以包括易失性存储器(volatilememory)，例如随机存取存储器(random-access memory，RAM)；所述存储器也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)等。
所述处理器可以是中央处理器(central processing unit，CPU)。所述处理器还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路 (application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)等。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。对于实施例公开的设备而言，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、CDROM、或技术领域内所公知的任意其它形式的存储介质中。
以上对本发明实施例所提供的方法进行了详细介绍，本发明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；对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (19)

  1. 一种保护飞控系统的方法，其特征在于，所述飞控系统通过端口连接第一外部系统，所述方法包括：
    获取总操作权限，所述总操作权限用于判断所述第一外部系统能否对所述飞控系统执行操作；
    接收所述第一外部系统对所述飞控系统的操作请求；
    根据所述总操作权限和所述操作请求对所述操作请求处理，所述处理包括：允许或阻止所述第一外部系统对所述飞控系统进行操作。
  2. 根据权利要求1所述的方法，其特征在于，所述总操作权限包括：允许所述第一外部系统对所述飞控系统进行操作或者阻止所述第一外部系统对所述飞控系统进行操作，所述第一外部系统为任何与所述飞控系统通过端口连接的第一外部系统。
  3. 根据权利要求1所述的方法，其特征在于，所述总操作权限包括至少一个标识信息，以及所述标识信息所对应的操作权限，所述至少一个标志信息分别用于标识不同的外部系统；
    所述操作请求包括所述第一外部系统的标识信息；
    根据所述总操作权限和所述操作请求对所述操作请求处理，具体包括：
    根据所述第一外部系统的标识信息在所述总操作权限中对应的操作权限，对所述操作请求处理。
  4. 根据权利要3所述的方法，其特征在于，所述标识信息包括第一外部系统的地址信息或MAC信息。
  5. 根据权利要求1、3或4中任一项所述的方法，其特征在于，所述总操作权限包括操作内容，以及所述操作内容对应的操作权限；
    其中，所述操作内容包括所述第一外部系统对所述飞控系统 的读操作和/或所述第一外部系统对所述飞控系统的写操作。
  6. 根据权利要求5所述的方法，其特征在于，所述总操作权限还包括所述飞控系统中至少一个地址段；
    所述操作权限具体是所述操作内容和地址段的组合对应的操作权限。
  7. 根据权利要求6所述的方法，其特征在于，所述操作请求包括地址段；
    根据所述总操作权限和所述操作请求对所述操作请求处理，包括：
    根据所述操作请求中的地址段在所述总操作权限中对应的操作权限，对所述操作请求处理。
  8. 根据权利要求6所述的方法，其特征在于，所述操作请求包括操作内容；
    根据所述总操作权限和所述操作请求对所述操作请求处理，包括：允许或阻止所述第一外部系统对所述飞控系统在所述总操作权限中的所述至少一个地址段执行所述操作请求中的操作内容。
  9. 根据权利要求1所述的方法，其特征在于，所述总操作权限包括至少一个标志信息和所述飞控系统中至少一个地址段，以及与所述标识信息和所述地址段的组合所对应的操作权限，所述至少一个标志信息分别用于标识不同的外部系统；
    所述操作请求包括所述第一外部系统的标识信息；
    根据所述总操作权限和所述操作请求对所述操作请求处理，，具体包括：
    允许或阻止所述第一外部系统对所述飞控系统中至少一个地址段执行所述操作请求，所述地址段为所述总操作权限中的与所述第一外部系统的标识信息相对应的地址段。
  10. 一种保护飞控系统的电路，其特征在于，所述电路作为 连接所述飞控系统和第一外部系统的端口，所述电路包括：获取电路、接收电路和处理电路；其中，
    所述获取电路：用于获取总操作权限，所述总操作权限用于判断所述第一外部系统能否对所述飞控系统执行操作；
    所述接收电路：用于接收所述第一外部系统对所述飞控系统的操作请求；
    所述处理电路：用于根据所述总操作权限和所述操作请求对所述操作请求处理，所述处理包括：允许或阻止所述第一外部系统对所述飞控系统进行操作。
  11. 根据权利要求10所述的电路，其特征在于，所述总操作权限包括：允许所述第一外部系统对所述飞控系统进行操作或者阻止所述第一外部系统对所述飞控系统进行操作，所述第一外部系统为任何与所述飞控系统通过总线端口连接的第一外部系统。
  12. 根据权利要求10所述的电路，其特征在于，所述总操作权限包括至少一个标识信息，以及所述标识信息所对应的操作权限，所述至少一个标志信息分别用于标识不同的外部系统；
    所述操作请求包括所述第一外部系统的标识信息；
    所述处理电路还用于根据所述第一外部系统的标识信息在所述总操作权限中对应的操作权限，对所述操作请求处理。
  13. 根据权利要求12所述的电路，其特征在于，所述标识信息包括第一外部系统的地址信息。
  14. 根据权利要求10、12或13中任一项所述的电路，其特征在于，所述总操作权限包括操作内容，以及所述操作内容对应的操作权限；
    其中，所述操作内容包括所述第一外部系统对所述飞控系统的读操作和/或所述第一外部系统对所述飞控系统的写操作。
  15. 根据权利要求14所述的电路，其特征在于，所述总操作 权限还包括所述飞控系统中至少一个地址段；
    所述操作权限具体是所述操作内容和地址段的组合对应的操作权限。
  16. 根据权利要求15所述的电路，其特征在于，所述操作请求包括地址段；
    所述处理电路还用于根据所述操作请求中的地址段在所述总操作权限中对应的操作权限，对所述操作请求处理。
  17. 根据权利要求15所述的电路，其特征在于，所述操作请求包括操作内容；
    所述处理电路还用于允许或阻止所述第一外部系统对所述飞控系统在所述总操作权限中的所述至少一个地址段执行所述操作请求中的操作内容。
  18. 根据权利要求10所述的方法，其特征在于，所述总操作权限包括至少一个标志信息和所述飞控系统中至少一个地址段，以及与所述标识信息和所述地址段的组合所对应的操作权限，所述至少一个标志信息分别用于标识不同的外部系统；
    所述操作请求包括所述第一外部系统的标识信息；
    所述处理电路还用于允许或阻止所述第一外部系统对所述飞控系统中至少一个地址段执行所述操作请求，所述地址段为所述总操作权限中的与所述第一外部系统的标识信息相对应的地址段。
  19. 一种无人飞行器，其特征在于，包括：
    权利要求10-18所述的一种保护飞控系统的电路。
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CN104808674A (zh) * 2015-03-03 2015-07-29 广州亿航智能技术有限公司 多旋翼飞行器的控制系统、终端及机载飞控系统
CN105261189A (zh) * 2015-11-16 2016-01-20 英华达（上海）科技有限公司 一种无人机的飞行控制方法及系统
CN106406349A (zh) * 2016-10-28 2017-02-15 易瓦特科技股份公司 无人机飞行控制方法及系统

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