CN105206116B - Unmanned vehicle flight range verifies device and its verification method - Google Patents
Unmanned vehicle flight range verifies device and its verification method Download PDFInfo
- Publication number
- CN105206116B CN105206116B CN201510651087.3A CN201510651087A CN105206116B CN 105206116 B CN105206116 B CN 105206116B CN 201510651087 A CN201510651087 A CN 201510651087A CN 105206116 B CN105206116 B CN 105206116B
- Authority
- CN
- China
- Prior art keywords
- cloud server
- unmanned vehicle
- flight range
- authentication module
- positional information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Traffic Control Systems (AREA)
Abstract
A kind of unmanned vehicle flight range checking device and its verification method, the device includes cloud server (1) and the locating module (2) and authentication module (3) that are located on the unmanned vehicle, the cloud server (1) contains flight range database, wherein, the authentication module (3) sends and the unique corresponding machine code of the unmanned vehicle to the cloud server (1), when the cloud server (1) recognizes that the machine code belongs to the flight range database, the cloud server (1) sends the legal instruction of the unmanned vehicle to the authentication module (3), the authentication module (3) retransmits the positional information of the unmanned vehicle determined via the locating module (2) to the cloud server (1), when the positional information belongs to the flight range, the cloud server (1), which sends, allows the information that passes through to the authentication module (3).
Description
Technical field
The invention belongs to aviation field, more particularly to a kind of unmanned vehicle flight range checking device and its authentication
Method.
Background technology
With small miniature unmanned vehicle, especially many rotary wind type unmanned vehicles start to be used widely, and bring
One problem is exactly activity of the unmanned vehicle in spatial dimension, and any management and control are not obtained substantially.Although having
Relatively large unmanned plane manufacturer built-in related data and management on no-fly region in its unmanned vehicle produced
Program, but unmanned vehicle manufacturer is various after all, and also a large amount of fans can voluntarily purchase original fitting assembling
High performance unmanned vehicle, therefore the airflight process of unmanned vehicle, are still uncontrolled.Also, with many rotations
The hot topic of wing formula unmanned vehicle, has driven the development of fixed-wing formula aircraft, has entered now with airborne aircraft again in turn
Row flying activity, and the behavior for the task that completes to take photo by plane, measure, monitoring, spraying etc. is more and more.This uncontrolled space flight
The growth of device quantity, will clearly result in the threat to spatial domain safety, such as：The mutual shock of mobiles in spatial dimension,
For another example：The aircraft of airflight will cause potential injury on a surface target when running into failure and stopping from aerial crash
Threaten etc..In addition, with the lifting of aircraft performance, small miniature unmanned vehicle can freely movable spatial dimension it is also more next
It is bigger, if in the relevant range activity of civil aviation, in some instances it may even be possible to directly threaten the air security of aircarrier aircraft, seriously
When, the life of aviation passenger is threatened.
Patent document CN104809918 discloses a kind of unmanned plane during flying management method, and it includes mobile phone A PP, authorizes clothes
Business device, mobile phone A PP is needed in advance in authorization server registration；There is the word that can not be read by any equipment in unmanned aerial vehicle (UAV) control box
Symbol string secret key, and the identical character string secret key that is also stored with authorization server, step is：
(1) mobile phone A PP sends flight plan application to authorization server, is described in application containing flying area；
(2) authorization server describes flying area together with character string key encryption, such as Hash is encrypted, and forms spatial domain close
Spoon, then replies to mobile phone A PP by spatial domain secret key；
(3) mobile phone A PP sends flying area description to unmanned plane with spatial domain secret key；
(4) unmanned aerial vehicle (UAV) control box describes flying area with character string secret key by the identical cipher mode of authorization server to add
Close, such as identical Hash is encrypted, and this encrypted result is compared with the spatial domain secret key that mobile phone A PP is sent, if being consistent
License unmanned plane takes off, and does not otherwise allow unmanned plane to take off；
The spatial domain is the plane domain limited by some longitude and latitude points and height above sea level is defined up and down, or by specifying
Point, terminal, spatial domain width, spatial domain are highly defined.The patent is overcome " in advance by flying area limitation data write-in unmanned plane
Control box in " deficiency.But the patent can not confirm whether unmanned vehicle is in flying area, it is impossible to effectively to nobody
Aircraft is managed and provided related permission spatial information (si) and avoids the effect with the collision of other aircraft.
Patent document CN104570872 discloses a kind of unmanned plane remote monitoring and method of control, and it includes unmanned plane, institute
The unmanned plane stated includes unmanned plane body and the automatic pilot being arranged on unmanned plane, and described automatic pilot passes through wireless
Transmission link is connected with remote control；Described remote control is used to control unmanned plane, including remote controller body and installed in remote control
Wireless transport module on body, it past will outwardly send received packet at regular intervals；Described
Remote control is connected by wired or wireless way and earth station, and described earth station is total active station, mainly by operation main machine frame
Into unmanned plane only accepts the instruction that remote control is sent；Described wireless transport module passes through with air traffic control department and service station
The mode being wirelessly transferred is connected；After unmanned plane is powered up, initialization can be powered up, while it is advance to control automatic pilot to pass through
The program set is carried out searching star positioning, and the data of screening are sent back into remote control, and remote control can be by these information and remote control
The bootloader information package of device sends back to the receiver of air traffic control department and the receiver in service station；When air traffic control portion
When door finds that unmanned plane needs forced landing illegally to take off, air traffic control department can send control instruction to remote control, remote control
The data that locking after the instruction of air traffic control department enters remote control by other approach are received, make it that any effect not occur
With now remote control only accepts the instruction of air traffic control department, untill air traffic control department sends finishing control instruction；When
When unmanned operators need service station remote assistance, service station is notified first, and service station receives transmission control after information and referred to
Make on remote control, can also be locked in addition to air traffic control department after remote control to instruction and enter remote control by other approach
Data, make it that any effectiveness not occur, now remote control only accepts the instruction in service station, until service station sends finishing control
Untill instruction.The patent realizes air traffic control department and unmanned plane in-flight can be monitored, and determines flying for unmanned plane
Row place, flying height and unmanned plane whether there is potential safety hazard in itself, judge whether safe flight, if it is desirable, can be with
Unmanned plane is remotely force-landed.But patent structure complexity is, it is necessary to which manual control and renewal and slow and inconvenience of upgrading, are somebody's turn to do
Patent can not just intervene checking before take-off, and aviation safety is relatively low.
Therefore, this area be badly in need of one kind can upgrade in time as needed and upgrade can fly airspace data and management strategy and
Do not reveal as the unmanned vehicle flight range of the sensitive data in no-fly region verifies device and its verification method, and the device and
Method can carry out the double verification that identity legitimacy checking and flight range are verified, and offer unmanned vehicle can fly region
Relevant information and avoid and other unmanned vehicles collide.
Disclosed above- mentioned information is used only for strengthening the understanding to background of the present invention in the background section, it is thus possible to
Include the information of prior art known to a person of ordinary skill in the art in not constituting home.
The content of the invention
The purpose of the present invention is to be achieved by the following technical programs.
According to the first aspect of the invention, a kind of unmanned vehicle flight range checking device disclosed by the invention includes cloud
End server and the locating module and authentication module being located on the unmanned vehicle, the cloud server contain movement area
Regional data base.
The authentication module is sent with the unique corresponding machine code of the unmanned vehicle to the cloud server, works as institute
When stating cloud server and recognizing that the machine code belongs to the flight range database, the cloud server send it is described nobody
The legal instruction of aircraft is to the authentication module.
The authentication module retransmits the positional information of the unmanned vehicle determined via the locating module to institute
Cloud server is stated, the cloud server recognizes whether the positional information belongs to the nothing in the flight range database
The flight range of people's aircraft.
When the positional information belongs to the flight range, the cloud server, which is sent, allows the information that passes through to institute
State authentication module.
Preferably, after the unmanned vehicle takes off, the authentication module repeats to send real-time according to certain frequency
Positional information is to the cloud server, and the cloud server recognizes the positional information in the flight range database
Whether the flight range of the unmanned vehicle is belonged to.
Preferably, when the positional information belongs to the flight range, the cloud server sends the unmanned flight
Device allows the cartographic information of flight range to the authentication module.
Preferably, when the positional information belongs to the flight range, the cloud server is sent in the position
The positional information of other unmanned vehicles in information preset range is to the authentication module.
It is highly preferred that the authentication module be provided with one-time write memory, the memory storage it is not modifiable with
The unique corresponding machine code of the unmanned vehicle.
It is highly preferred that the locating module includes GPS positioning unit and altimeter, the locating module is by described in measurement
The longitude and latitude and height of unmanned vehicle are sent to the authentication module as the positional information.It is highly preferred that the checking
Module and cloud server include data processing unit, and the data processing unit is by the information encryption of transmission and increases
Check code is packed and decrypts the information of reception.
According to the second aspect of the invention, it is disclosed by the invention to use described unmanned vehicle flight range checking device
Verification method, it comprises the following steps.
In first step, the authentication module is sent and the unique corresponding machine code of the unmanned vehicle to the high in the clouds
Server.
In second step, when the cloud server recognizes that the machine code belongs to the flight range database, institute
State cloud server and send the legal instruction of the unmanned vehicle to the authentication module, when the cloud server recognizes institute
When stating machine code and being not belonging to the flight range database, the cloud server sends the instruction of the unmanned vehicle illegally
To the authentication module.
In third step, when the unmanned vehicle is legal, the authentication module is retransmited via the locating module
The positional information of the unmanned Fetion device determined is to the cloud server.
In four steps, the cloud server recognizes whether the positional information belongs in the flight range database
In the flight range of the unmanned vehicle.
When the positional information belongs to the flight range, the cloud server, which is sent, allows the information that passes through to institute
State authentication module；When the positional information is not belonging to the flight range, the cloud server sends the letter that no thoroughfare
Cease the authentication module.
Preferably, this method also includes the 5th step, and after the unmanned vehicle takes off, the authentication module is according to one
Determine frequency to repeat to send real-time positional information to the cloud server, the cloud server is in the flight range data
Recognize whether the positional information belongs to the flight range of the unmanned vehicle in storehouse, when the positional information belongs to the flight
During region, the cloud server, which is sent, allows the information that passes through to the authentication module；When the positional information is not belonging to institute
When stating flight range, the cloud server transmission information that no thoroughfare to the authentication module.
It is highly preferred that in the 5th step, when the positional information belongs to the flight range, the cloud server enters
One step, which sends the unmanned vehicle, to be allowed the cartographic information of flight range and/or is sent in the positional information preset range
The positional information of other unmanned vehicles is to the authentication module.
Scheme proposed by the present invention can mitigate the pressure load of unmanned vehicle processing data using cloud server, and
Being capable of real-time update and upgrading flight range database as needed, it is to avoid the exposed sensitive data and present invention can be to nothing
Before the manipulation of people's aircraft, two layers of checking that the checking of unmanned plane identity legitimacy and flight range are verified is carried out, is further enhanced
Aviation safety, present invention also offers the cartographic information of flight range, it is ensured that selects appropriate aerial mission enforcement place and carries
The positional information of the unmanned vehicle supplied in preset range is to ensure flight safety.
Brief description of the drawings
Fig. 1 is the structural representation that unmanned vehicle flight range according to an embodiment of the invention verifies device.
Fig. 2 is the structural representation that unmanned vehicle flight range verifies device according to a further embodiment of the invention.
Fig. 3 is the verification method that use unmanned vehicle flight range according to an embodiment of the invention verifies device
Step schematic diagram.
Fig. 4 is the verification method that use unmanned vehicle flight range in accordance with another embodiment of the present invention verifies device
Step schematic diagram.
The present invention is further explained below in conjunction with drawings and examples.
Embodiment
It is described in detail below be actually only it is exemplary and be not intended to limit application and use.In addition, being not intended to
By any clear and definite of above technical field, background, brief overview or middle presentation described in detail below or the theoretical constraint implied.Such as
Use herein, term " module " or " unit " refer to any hardware, software, firmware, electronic control part, processing logic and/or
Processor device (individually or with any combinations), includes but not limited to：Application specific integrated circuit (ASIC), electronic circuit, hold
The processor (shared, special or groups of) and memory of the one or more softwares of row or firmware program, combinational logic circuit and/
Or other described functional suitable parts are provided.In addition, unless clearly there is opposite description, otherwise word
" comprising " and its different modifications should be understood implicit to include described part but be not excluded for any miscellaneous part.
Present embodiments describe a kind of unmanned vehicle flight range checking device, it is as shown in Figure 1 according to this
The unmanned vehicle flight range of one embodiment of invention verifies the schematic diagram of device, and a kind of unmanned vehicle flight range is tested
Card device includes cloud server 1 and the locating module 2 and authentication module 3 that are located on the unmanned vehicle.
In the art, unmanned vehicle refer to using automatically controlling, the unmanned vehicle with self-navigation.This nobody
Aircraft can be many rotary wind type unmanned vehicles.Unmanned vehicle can be various types of unmanned vehicles, including fixation
The wing, many rotors etc. are various can to carry out the aircraft of multiple degrees of freedom activity in the range of spatial domain.Unmanned vehicle can include flying
Row device body, flight control modules and wireless communication module.
The namely Cloud Server of cloud server 1, is a server cluster, there is many servers, and general calculating
Frame structure is similar, and the composition of cloud server 1 includes processor, hard disk, internal memory, system bus etc..Cloud server 1 can be carried
For simple efficient, safe and reliable, disposal ability can elastic telescopic calculating service.The cloud server 1 contains flight range
Database.The relevant information of the clearance authority on flight range is stored in the flight range database.Correlation letter
Breath at least includes unique corresponding machine code of unmanned vehicle, each machine code corresponding flight range time and space model
Enclose.Machine code can represent the classification of unmanned vehicle, therefore, for different classes of aircraft, can also give different
Authority, such as military, commercial, civilian unmanned vehicle may obtain the clearance authority of different situations in the same area；
For another example according to the registration of the no-fly reason and aircraft relation of no-fly zone, it is also possible to obtain different authorities.For example：
If the development rights that user registers certain piece location in server 1 beyond the clouds exclude other any aircraft in user's hand
Flying activity is carried out in the location；Simultaneously user can also register request, if the aircraft that the user is possessed, then
Flying activity can be carried out in the location.In this way, in fact also achieving the classification for unmanned vehicle clearance authority
Manage, and the renewal of this rights management mode the side of server 1 one can be carried out beyond the clouds completely, without to having dispatched from the factory
Unmanned machine equipment do any extra renewal and processing.
Locating module 2 can use the various technologies that can realize the positioning of body own physical position and determine nothing in real time
The positional information of people's aircraft, locating module 2 includes but is not limited to GPS, Big Dipper etc..Locating module 2 can be by selected from electronics sieve
One or more of the group of disk, altimeter and GPS unit composition composition.
The transmission of authentication module 3 and the unique corresponding machine code of the unmanned vehicle to the cloud server 1, when
When the cloud server 1 recognizes that the machine code belongs to the flight range database, the cloud server 1 sends described
The legal instruction of unmanned vehicle is to the authentication module 3.
Authentication module 3 can include general processor, digital signal processor, application-specific integrated circuit ASIC, and scene can be compiled
Journey gate array FPGA, analog circuit, digital circuit, and combinations thereof or other processors that are known or developing later.
The positional information that the authentication module 3 retransmits the unmanned vehicle determined via the locating module 2 is arrived
The cloud server 1, the cloud server 1 recognizes whether the positional information belongs in the flight range database
The flight range of the unmanned vehicle.
When the positional information belongs to the flight range, the cloud server 1 send allow the information that passes through to
The authentication module 3；When the positional information is not belonging to the flight range, no thoroughfare for the transmission of cloud server 1
Information to the authentication module 3.
In one embodiment, after the unmanned vehicle takes off, the authentication module 3 repeats to send out according to certain frequency
Real-time positional information is sent to the cloud server 1, the cloud server 1 recognizes institute in the flight range database
State the flight range whether positional information belongs to the unmanned vehicle.
In the flight course of unmanned vehicle, it is possible to occur the situation for entering no-fly zone, therefore according to certain frequency
Flight range authority checking is implemented in repetition, when cloud server 1 allows flight, then normal flight；When the basis of cloud server 1
Address information that authentication module 3 in unmanned vehicle is sent judges to enter or during into no-fly zone, then issues the user with
Warning or compulsive requirement aircraft make a return voyage automatically.Therefore, whether the present apparatus constantly can recognize unmanned vehicle in real time
Flown in the flight range of the unmanned vehicle.
In one embodiment, when the positional information belongs to the flight range, the cloud server 1 is sent should
Unmanned vehicle allows the cartographic information of flight range to the authentication module 3.
Due to being stored in substantially in the cloud server 1 specially set for the information in no-fly region on specific where, use
Family will not learn all no-fly regions in map mode, for airspace management department or tissue, can effectively protect
Some close possible sensitive informations.But, and also to facilitate user, it is to avoid user runs into the case of unpredictable
Various control of taking off, although the present apparatus does not provide the map in no-fly region, can provide a user can flight range
Map, especially user are presently in the clearly fly able spatial domain scope near position.These fly able spatial domain scopes are led to
Often allow the scope of aircraft activity for relatively stable, such as outdoor square or vacant lot etc., due to these territorial scope phases
Will not take place frequently airspace management event for, therefore be can ensure that data substantially effective by the way of periodic data renewal
Property.
User is when flying field is selected, and action is gone in the place that also referring to these high probabilities can implement to fly, this
Sample avoids client in extreme circumstances, repeated multiple times selection flight locations, but always runs into flight management and control, does not allow the feelings taken off
Condition.Certainly, when spatial domain air traffic control event occurs temporarily for the scope for allowing unmanned vehicle movable, in face of this punching
Prominent situation, for the reason for spatial domain is safely the first Consideration, in the present apparatus, can still pass through foregoing flight validation machine
System, completes temporary flight restrictions.
In one embodiment, when the positional information belongs to the flight range, the cloud server 1 is sent in
The positional information of other unmanned vehicles in the positional information preset range to the authentication module 3 with avoid it is described nobody
The collision of aircraft.
At present, the use of unmanned vehicle is only confined in specific task spatial domain, and its potential effect is far from hair
Wave.The further genralrlization applied with unmanned vehicle, unmanned plane is likely to enter public spatial domain.It must take winged to unmanned plane
The anti-collision technique of row safety, prevents unmanned vehicle from occurring accidents.The present apparatus is by providing the institute of the unmanned vehicle
The positional informations of other unmanned vehicles in the preset range of positional information is stated to the authentication module 3 with avoid it is described nobody
The collision of aircraft, further increases aviation safety.
In the present embodiment, unmanned vehicle flight range checking device realizes following technique effect：
1. the management in no-fly region is inserted directly into before the manipulation to unmanned vehicle so that no-fly management and control more may be used
Lean on；
2. no-fly management is divided into two levels, first level is to judge whether unmanned vehicle is in itself legal fly
Row device, second level is whether current region belongs to legal flight range, further enhances aviation safety；
3. in this one end of user, either still fixed no-fly zone data is all not present in remote control end in unmanned vehicle,
It can avoid exposing the relevant information that airspace management department plans for the no-fly grade in spatial domain；
4. need the data volume communicated there was only geography information and tof tube between unmanned vehicle and cloud server 1
Information is managed, the cloud service of even load all by specially setting is calculated on the data renewal in no-fly region, data schema, data
Device 1 is completed, and reduces the data processing load pressure of user terminal unmanned vehicle and/or console；
5. because the management strategy of clearance is also maintained on cloud server 1, therefore modified for strategy
Or upgrading, do any upgrading or processing without to the unmanned vehicle equipment in existing user's hand；
Although corresponding 6. no-fly zone belongs to sensitive data, can provide a user can flight range geographical letter
Breath, going of so also ensuring that user shoots the arrow at the target select in appropriate aerial mission enforcement place and preset range nobody fly
The positional information of row device is to ensure flight safety.
Unmanned vehicle flight range in accordance with another embodiment of the present invention as shown in Figure 2 verifies the signal of device
Figure, unmanned vehicle flight range checking device includes cloud server 1 and the positioning mould being located on the unmanned vehicle
Block 2 and authentication module 3.
The transmission of authentication module 3 and the unique corresponding machine code of the unmanned vehicle to the cloud server 1, when
When the cloud server 1 recognizes that the machine code belongs to the flight range database, the cloud server 1 sends described
The legal instruction of unmanned vehicle is to the authentication module 3.
Authentication module 3 can include general processor, digital signal processor, application-specific integrated circuit ASIC, and scene can be compiled
Journey gate array FPGA, analog circuit, digital circuit, and combinations thereof or other processors that are known or developing later.
The authentication module 3 is provided with the memory 4 of one-time write, and the memory 4 stores the not modifiable and nothing
The unique corresponding machine code of people's aircraft.
The positional information that the authentication module 3 retransmits the unmanned vehicle determined via the locating module 2 is arrived
The cloud server 1, the cloud server 1 recognizes whether the positional information belongs in the flight range database
The flight range of the unmanned vehicle.
When the positional information belongs to the flight range, the cloud server 1 send allow the information that passes through to
The authentication module 3；When the positional information is not belonging to the flight range, no thoroughfare for the transmission of cloud server 1
Information to the authentication module 3.
The locating module 2 include GPS positioning unit 5 and altimeter 6, the locating module 2 by measurement it is described nobody
The longitude and latitude and height of aircraft are sent to the authentication module 3 as the positional information.The authentication module 3 and high in the clouds clothes
Device 1 be engaged in including data processing unit 7,7 ', the data processing unit 7,7 ' is by the information encryption of transmission and increases school
Test code packing and decrypt the information of reception.For communication security, increase the encryption to outgoing data, it is to avoid plain code is passed
Information is passed, data are carried out with increase check code packing, lowers the possibility of data redundancy error.
Use according to an embodiment of the invention shown in Figure 3 is tested according to described unmanned vehicle flight range
The verification method of card device, it comprises the following steps.
In first step S1, the authentication module 3 is sent with the unique corresponding machine code of the unmanned vehicle described in
Cloud server 1.
In second step S2, when the cloud server 1 recognizes that the machine code belongs to the flight range database,
The cloud server 1 sends the legal instruction of the unmanned vehicle to the authentication module 3, when the cloud server 1
When recognizing that the machine code is not belonging to the flight range database, it is non-that the cloud server 1 sends the unmanned vehicle
The instruction of method is to the authentication module 3.
In third step S3, when the unmanned vehicle is legal, the authentication module 3 is retransmited via the positioning mould
The positional information for the unmanned Fetion device that block 2 is determined is to the cloud server 1.
In four steps S4, the cloud server 1 recognizes that the positional information is in the flight range database
The no flight range for belonging to the unmanned vehicle.
When the positional information belongs to the flight range, the cloud server 1 send allow the information that passes through to
The authentication module 3；When the positional information is not belonging to the flight range, no thoroughfare for the transmission of cloud server 1
Information to the authentication module 3.
In the method, cloud service will be sent to according to default address with unmanned vehicle unique corresponding machine code
Device 1 verified, confirms whether unmanned vehicle is server 1 is registered beyond the clouds legal flight by second step
Device.After being verified by identity legitimacy, the unmanned vehicle of this method calls locating module 2 to obtain itself present position, will
The positional information is sent to cloud server 1 and verified, confirm the address whether be can flight range, can be only under simple scenario
Only the latitude and longitude information representated by GPS information is judged, it is increasingly complex in the case of, can be combined with aircraft subsidiary
Altimeter given by flying height information judged.If cloud server 1 judge the address for can flight range,
Then return checking instruction, it is allowed to aircraft takeoff, if cloud server 1 judge the address for can not flight range, return
Checking instruction, forbids aircraft takeoff, and provide related information warning.After aircraft obtains fly able checking instruction,
The manipulator of aircraft could obtain aircraft manipulation authority, and manipulation aircraft normally takes off, and completes flight course.
Use in accordance with another embodiment of the present invention shown in Figure 4 is according to described unmanned vehicle flight range
The verification method of device is verified, it comprises the following steps.
In first step S1, the authentication module 3 is sent with the unique corresponding machine code of the unmanned vehicle described in
Cloud server 1.
In second step S2, when the cloud server 1 recognizes that the machine code belongs to the flight range database,
The cloud server 1 sends the legal instruction of the unmanned vehicle to the authentication module 3, when the cloud server 1
When recognizing that the machine code is not belonging to the flight range database, it is non-that the cloud server 1 sends the unmanned vehicle
The instruction of method is to the authentication module 3.
In third step S3, when the unmanned vehicle is legal, the authentication module 3 is retransmited via the positioning mould
The positional information for the unmanned Fetion device that block 2 is determined is to the cloud server 1.
In four steps S4, the cloud server 1 recognizes that the positional information is in the flight range database
The no flight range for belonging to the unmanned vehicle.
When the positional information belongs to the flight range, the cloud server 1 send allow the information that passes through to
The authentication module 3；When the positional information is not belonging to the flight range, no thoroughfare for the transmission of cloud server 1
Information to the authentication module 3.
In 5th step S5, after the unmanned vehicle takes off, the authentication module 3 repeats to send according to certain frequency
Real-time positional information is to the cloud server 1, and the cloud server 1 recognizes described in the flight range database
Whether positional information belongs to the flight range of the unmanned vehicle, described when the positional information belongs to the flight range
Cloud server 1, which is sent, allows the information that passes through to the authentication module 3；When the positional information is not belonging to the flight range
When, the transmission of cloud server 1 information that no thoroughfare to the authentication module 3.
In one embodiment, in the 5th step S5, when the positional information belongs to the flight range, the cloud
End server 1, which further sends the unmanned vehicle, to be allowed the cartographic information of flight range and/or is sent in the positional information
The positional information of other unmanned vehicles in preset range is to the authentication module 3.
This method can constantly recognize whether unmanned vehicle flies in the flight range of the unmanned vehicle in real time
Cartographic information and other unmanned vehicles in the positional information preset range capable and that related flight range is provided
Positional information has ensured the security of aviation to avoid bumping against.
Although embodiment of the present invention is described above in association with accompanying drawing, the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment is only schematical, guiding, rather than restricted
's.One of ordinary skill in the art is under the enlightenment of this specification and is not departing from the scope that the claims in the present invention are protected
In the case of, the form of many kinds can also be made, these belong to the row of protection of the invention.
Claims (10)
1. a kind of unmanned vehicle flight range verifies device, it includes cloud server (1) and is located at the unmanned flight
Locating module (2) and authentication module (3) on device, the cloud server (1) contain flight range database, wherein,
Authentication module (3) transmission and the unique corresponding machine code of the unmanned vehicle to the cloud server (1), when
When the cloud server (1) recognizes that the machine code belongs to the flight range database, the cloud server (1) sends
The legal instruction of the unmanned vehicle to the authentication module (3),
The positional information that the authentication module (3) retransmits the unmanned vehicle determined via the locating module (2) is arrived
Whether the cloud server (1), the cloud server (1) recognizes the positional information in the flight range database
Belong to the flight range of the unmanned vehicle,
When the positional information belongs to the flight range, the cloud server (1), which sends, allows the information that passes through to institute
State authentication module (3).
2. unmanned vehicle flight range according to claim 1 verifies device, it is characterised in that：As the unmanned flight
After device takes off, the authentication module (3) repeats to send real-time positional information to the cloud server according to certain frequency
(1), the cloud server (1) recognizes whether the positional information belongs to the unmanned flight in the flight range database
The flight range of device.
3. unmanned vehicle flight range according to claim 2 verifies device, it is characterised in that：When the positional information
When belonging to the flight range, the cloud server (1) send the unmanned vehicle allow flight range cartographic information to
The authentication module (3).
4. unmanned vehicle flight range according to claim 2 verifies device, it is characterised in that：When the positional information
When belonging to the flight range, the cloud server (1) be sent in the positional information preset range nobody fly other
The positional information of row device is to the authentication module (3).
5. unmanned vehicle flight range according to claim 1 verifies device, it is characterised in that：The authentication module
(3) memory (4) of one-time write is provided with, the memory (4) storage is not modifiable uniquely right with the unmanned vehicle
The machine code answered.
6. unmanned vehicle flight range according to claim 1 verifies device, it is characterised in that：The locating module
(2) GPS positioning unit (5) and altimeter (6) are included, the locating module (2) is by the longitude and latitude of the unmanned vehicle of measurement
Degree and height are sent to the authentication module (3) as the positional information.
7. unmanned vehicle flight range according to claim 1 verifies device, it is characterised in that：The authentication module
(3) and cloud server (1) includes data processing unit (7,7 '), the data processing unit (7,7 ') is by the information of transmission
Encryption simultaneously increases check code packing and decrypts the information of reception.
8. a kind of unmanned vehicle flight range of use according to any one of claim 1-7 verifies the checking of device
Method, it comprises the following steps：
In first step (S1), the authentication module (3) is sent with the unique corresponding machine code of the unmanned vehicle described in
Cloud server (1)；
In second step (S2), when the cloud server (1) recognizes that the machine code belongs to the flight range database,
The cloud server (1) sends the legal instruction of the unmanned vehicle to the authentication module (3), when the cloud service
When device (1) recognizes that the machine code is not belonging to the flight range database, cloud server (1) transmission is described, and nobody flies
The instruction of row device illegally is to the authentication module (3)；
In third step (S3), when the unmanned vehicle is legal, the authentication module (3) is retransmited via the positioning mould
The positional information for the unmanned vehicle that block (2) is determined is to the cloud server (1)；
In four steps (S4), the cloud server (1) recognizes that the positional information is in the flight range database
The no flight range for belonging to the unmanned vehicle,
When the positional information belongs to the flight range, the cloud server (1), which sends, allows the information that passes through to institute
State authentication module (3)；When the positional information is not belonging to the flight range, the cloud server (1), which sends, forbids leading to
The information crossed is to the authentication module (3).
9. verification method according to claim 8, it is characterised in that：This method also includes the 5th step (S5), when described
After unmanned vehicle takes off, the authentication module (3) repeats to send real-time positional information to the high in the clouds according to certain frequency
Server (1), the cloud server (1) recognizes whether the positional information belongs to the nothing in the flight range database
The flight range of people's aircraft, when the positional information belongs to the flight range, the cloud server (1), which sends, to be allowed
The information passed through is to the authentication module (3)；When the positional information is not belonging to the flight range, the cloud server
(1) the information that no thoroughfare is sent to the authentication module (3).
10. a kind of verification method according to claim 9, it comprises the following steps：In 5th step (S5), when institute's rheme
When confidence breath belongs to the flight range, the cloud server (1), which further sends the unmanned vehicle, allows flight range
Cartographic information and/or the positional informations of other unmanned vehicles being sent in the positional information preset range tested described in
Demonstrate,prove module (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510651087.3A CN105206116B (en) | 2015-10-10 | 2015-10-10 | Unmanned vehicle flight range verifies device and its verification method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510651087.3A CN105206116B (en) | 2015-10-10 | 2015-10-10 | Unmanned vehicle flight range verifies device and its verification method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105206116A CN105206116A (en) | 2015-12-30 |
| CN105206116B true CN105206116B (en) | 2017-09-22 |
Family
ID=54953755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510651087.3A Active CN105206116B (en) | 2015-10-10 | 2015-10-10 | Unmanned vehicle flight range verifies device and its verification method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105206116B (en) |
Families Citing this family (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105206114B (en) * | 2015-08-10 | 2018-08-21 | 华为技术有限公司 | Fly control, license, security maintenance method and apparatus, server, aircraft |
| TWI593602B (en) * | 2015-12-03 | 2017-08-01 | 新唐科技股份有限公司 | Verification system and method for electronic governor of unmanned aerial vehicle |
| CN107113177B (en) * | 2015-12-10 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Data connection, transmission, reception, the method and system of interaction and memory, aircraft |
| CN105739520B (en) * | 2016-01-29 | 2019-10-08 | 余江 | A kind of unmanned vehicle identifying system and its recognition methods |
| CN105608930B (en) * | 2016-02-03 | 2018-11-30 | 辽宁猎鹰航空科技有限公司 | Unmanned plane safety management system and method |
| WO2017143570A1 (en) * | 2016-02-25 | 2017-08-31 | 深圳市大疆创新科技有限公司 | Method and device for device authentication, authentication device, unmanned aerial vehicle and remote controller |
| CN105761550A (en) * | 2016-03-01 | 2016-07-13 | 北京航空航天大学 | Unmanned aerial vehicle (UAV) air operation security control method, UAV and server |
| CN105827607A (en) * | 2016-03-31 | 2016-08-03 | 赵文洁 | Unmanned aerial vehicle identification system |
| CN105739535B (en) * | 2016-04-29 | 2019-09-27 | 竒葩网络（深圳）有限公司 | A kind of UAV Flight Control method, apparatus and system |
| CN106155070B (en) * | 2016-07-04 | 2024-04-30 | 零度智控（北京）智能科技有限公司 | Unmanned plane take-off control method and device and remote control terminal |
| CN106292708A (en) * | 2016-10-09 | 2017-01-04 | 北京国泰北斗科技有限公司 | Unmanned plane avoidance obstacle method and device |
| CN106354153A (en) * | 2016-10-09 | 2017-01-25 | 北京国泰北斗科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN109677629B (en) * | 2016-10-21 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Method for handling faults, aircraft, server and control device |
| CN106506151B (en) * | 2016-11-09 | 2019-09-03 | 北京工业大学 | A kind of password for unmanned plane logistics distribution sends and receives device |
| CN106716973A (en) * | 2016-11-22 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Control method and ground control terminal of unmanned aerial vehicle |
| CN106843255A (en) * | 2017-03-21 | 2017-06-13 | 苏州光之翼智能科技有限公司 | A kind of flight management system of unmanned plane certification |
| US20180350246A1 (en) * | 2017-06-05 | 2018-12-06 | X Development Llc | Methods and Systems for Sharing an Airspace Wide Unmanned Aircraft System Database Across a Plurality of Service Suppliers |
| CN108713222B (en) * | 2017-08-28 | 2021-06-04 | 北京小米移动软件有限公司 | Flight control method, device and system |
| CN107610533B (en) * | 2017-10-09 | 2021-01-26 | 深圳市道通智能航空技术有限公司 | Method and device for monitoring unmanned aerial vehicle |
| US11146932B2 (en) | 2017-11-03 | 2021-10-12 | Beijing Xiaomi Mobile Software Co., Ltd. | Unmanned aerial vehicle authentication method and apparatus |
| CN108780461B (en) * | 2017-12-20 | 2021-11-23 | 深圳市大疆创新科技有限公司 | Flight-limited data updating method, related equipment and flight-limited data management platform |
| WO2019193469A1 (en) | 2018-04-05 | 2019-10-10 | Telefonaktiebolaget Lm Ericsson (Publ) | Methods for controlling unauthorized aerial ues |
| CN109101036A (en) * | 2018-10-30 | 2018-12-28 | 佛山市神风航空科技有限公司 | A kind of more rotor manned vehicle flight control systems |
| WO2021087724A1 (en) * | 2019-11-05 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Control method, control device, movable platform, and control system |
| CN111399540A (en) * | 2020-03-16 | 2020-07-10 | 深圳市三合信义科技发展有限公司 | Unmanned aerial vehicle flight management method and system and storage medium |
| CN114093201B (en) * | 2020-08-24 | 2023-08-15 | 中移(成都)信息通信科技有限公司 | Flight equipment management method, device, equipment and storage medium |
| WO2022056864A1 (en) * | 2020-09-18 | 2022-03-24 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method therefor, server, control chip, and storage medium |
| CN116959296B (en) * | 2023-08-28 | 2024-08-20 | 中国民航管理干部学院 | Aircraft flight conflict detection method, device and system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2910876B1 (en) * | 2007-01-02 | 2009-06-05 | Jannick Simeray | HELICOPTER WITH AUTOMATIC PILOT. |
| CN101833870B (en) * | 2010-05-20 | 2012-01-25 | 无锡汉和航空技术有限公司 | Air safety monitoring method for unmanned aerial vehicle |
| DE102011016964A1 (en) * | 2011-04-13 | 2012-10-18 | Diehl Bgt Defence Gmbh & Co. Kg | Method for monitoring an air space around an aircraft |
| CN202694592U (en) * | 2012-07-25 | 2013-01-23 | 湖南中航天幕科技有限公司 | Comprehensive management network platform of civil unmanned aerial vehicle |
| CN104834307A (en) * | 2015-04-23 | 2015-08-12 | 杨珊珊 | Control method and control device of unmanned aerial vehicle |
| CN104809918B (en) * | 2015-05-27 | 2017-07-28 | 张忠义 | A kind of unmanned plane during flying management method |
| CN104950907B (en) * | 2015-06-26 | 2018-02-02 | 巴州极飞农业航空科技有限公司 | The monitoring method of unmanned plane, apparatus and system |
| CN104955047B (en) * | 2015-06-26 | 2018-08-07 | 陈昊 | A kind of Authentication Center and method for authenticating that authentication service is provided for unmanned plane |
-
2015
- 2015-10-10 CN CN201510651087.3A patent/CN105206116B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105206116A (en) | 2015-12-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105206116B (en) | Unmanned vehicle flight range verifies device and its verification method | |
| CN111899569B9 (en) | System and method for restricting airspace access of unmanned aerial vehicle | |
| US20210043096A1 (en) | Aircraft controlled by a secure integrated airspace management system | |
| US11120697B2 (en) | System and method of preventing and remedying restricted area intrusions by unmanned aerial vehicles | |
| CN107430403B (en) | System and method with geo-fencing device level | |
| US10909861B2 (en) | Unmanned aerial vehicle in controlled airspace | |
| CN107408352B (en) | System and method for geo-fencing device communication | |
| CN107531324B (en) | System and method for mobile geofencing | |
| CN107533331B (en) | Geo-fencing device with dynamic characteristics | |
| CN112330984B (en) | System and method for regulating operation of an unmanned aerial vehicle | |
| US10310498B2 (en) | Unmanned aerial vehicle transponder systems with integrated disablement | |
| CN107615785B (en) | System and method for displaying geofence device information | |
| CN110015418B (en) | Authentication system and method for generating flight controls | |
| CN107409051B (en) | Authentication system and method for generating flight controls | |
| CN107430402B (en) | System and method for identifying and authenticating geo-fence devices | |
| US9947233B2 (en) | Method and system to improve safety concerning drones | |
| CN107408351B (en) | Authentication system and method for generating flight controls | |
| WO2017153421A1 (en) | Authorisation management and flight compliance system and method for unmanned aerial vehicles | |
| WO2017013858A1 (en) | Information processing system for mobile object, server for managing mobile object, information communication terminal and mobile object | |
| US20230289445A1 (en) | Tamper-resistant geo-fence system for drones | |
| AU2018317753A1 (en) | Remote aircraft identification for UAV | |
| JP7146834B2 (en) | Method and system for determining level of authorization for unmanned aerial vehicle (UAV) operation | |
| CN205016075U (en) | Device is verified in unmanned vehicles flying area territory | |
| US20230010838A1 (en) | Apparatus, systems, and methods for providing surveillance services for unmanned aircraft | |
| WO2020058535A1 (en) | Unmanned aircraft operating control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |