A method and device for transmitting flight control messages of unmanned aerial vehicle

Abstract

The present invention provides a method and device for transmitting drone flight control messages. The method comprises: receiving a flight control key list sent by a target drone service platform, synchronizing the flight control key lists of the drone and the target drone service platform, wherein the target drone service platform is pre-deployed on a mobile edge computing (MEC) platform; synchronizing flight control message field descriptions with the target drone service platform; and transmitting flight control messages between the drone and the target drone service platform based on the flight control message field descriptions and the flight control key list. This method and device can address the problems in related technologies where drones and drone service platforms typically interact using a fixed-length instruction mode, which makes it difficult to expand fields and lacks a security authentication mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method and device for transmitting UAV flight control messages. Background Art

[0002] Drones and drone service platforms need to regularly exchange flight control messages. Due to the limited data bandwidth of drones in the air (poor signal coverage and high-speed movement), to ensure efficient transmission and analysis, drones and drone service platforms generally use a fixed-length instruction mode for interaction. However, this mode often has problems such as difficulty in extending fields and lack of a security authentication mechanism. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the existing technology and provide a method and device for transmitting drone flight control messages, so as to solve the problems in the related technology that the interaction between drones and drone service platforms generally uses a fixed-length instruction mode, which makes it difficult to extend fields and has no security authentication mechanism.

[0004] In a first aspect, the present invention provides a method for transmitting flight control messages of a drone, which is applied to a drone, and the method comprises:

[0005] Receive a flight control key list sent by a target UAV service platform to synchronize the flight control key lists of the UAV and the target UAV service platform, where the target UAV service platform is pre-deployed on a mobile edge computing (MEC) platform.

[0006] Synchronize flight control message field description with the target UAV service platform;

[0007] The flight control message is transmitted between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list.

[0008] Furthermore, before receiving the flight control key list sent by the target UAV service platform, the method further includes:

[0009] Send a flight control key list application request to the target UAV service platform, so that the target UAV service platform generates the flight control key list according to the flight control key list application request.

[0010] Furthermore, before sending the flight control key list application request to the target UAV service platform, the method further includes:

[0011] Sending a flight control key list application request to the source UAV service platform, so that the source UAV service platform sends a deployment request to the MEC for edge deployment on the MEC, and the MEC deploys the source UAV service platform on the MEC as the target UAV service platform based on the deployment request;

[0012] Receive the deployment address returned by the source drone service platform;

[0013] The sending of the flight control key list request to the target UAV service platform specifically includes:

[0014] Resend the flight control key list application request to the target drone service platform corresponding to the deployment address.

[0015] Furthermore, the flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length corresponding to each field;

[0016] The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

[0017] Furthermore, if the flight control message is a flight control heartbeat message or a flight control telemetry message, the field description of the flight control message synchronized with the target UAV service platform specifically includes:

[0018] Determine the field description corresponding to the flight control heartbeat message or the flight control telemetry message;

[0019] Selecting a flight control key with a serial number K from the flight control key list as the first flight control key;

[0020] Encrypting a field description corresponding to the flight control heartbeat message or the flight control telemetry message using the first flight control key;

[0021] Send the first flight control heartbeat message or flight control telemetry message to the target UAV service platform, where the first flight control heartbeat message or flight control telemetry message carries the K and the encrypted field description, so that the target UAV service platform decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

[0022] Furthermore, the transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0023] Selecting a flight control key with a serial number of N from the flight control key list as the second flight control key, where N is not equal to K;

[0024] Generate a non-first flight control heartbeat message or flight control telemetry message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field;

[0025] Encrypting the non-first flight control heartbeat message or flight control telemetry message using the second flight control key to obtain a message ciphertext;

[0026] Send the N and the message ciphertext to the target UAV service platform, so that the target UAV service platform decrypts the message ciphertext based on the N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control heartbeat message or flight control telemetry message based on the decrypted non-first flight control heartbeat message or flight control telemetry message and its own pre-stored decrypted field description.

[0027] Furthermore, if the flight control message is a flight control remote control message, the field description of the flight control message synchronized with the target UAV service platform specifically includes:

[0028] Receive the first flight control remote control message sent by the target UAV service platform, where the first flight control remote control message carries a sequence number K and a field description of the encrypted flight control remote control message;

[0029] The encrypted field description is decrypted based on the K and the flight control key list, and the decrypted field description is saved.

[0030] Furthermore, the transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0031] Receive the message ciphertext of the sequence number N and the non-first flight control remote control message sent by the target UAV service platform;

[0032] Decrypting the message ciphertext based on N and the flight control key list;

[0033] The field content of the non-first flight control remote control message is obtained based on the decrypted non-first flight control remote control message and the decrypted field description pre-stored in the system.

[0034] In a second aspect, the present invention provides a method for transmitting a UAV flight control message, which is applied to a target UAV service platform, wherein the target UAV service platform is a UAV service platform pre-deployed on a mobile edge computing (MEC). The method includes:

[0035] Sending a flight control key list to the drone to synchronize the flight control key lists of the drone with those of the target drone service platform;

[0036] Description of the flight control message fields synchronized with the drone;

[0037] The flight control message is transmitted between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list.

[0038] Furthermore, before sending the flight control key list to the drone, the method further includes:

[0039] Receive a flight control key list request sent by the drone;

[0040] Generate the flight control key list according to the flight control key list application request.

[0041] Furthermore, the flight control key list application request carries an operator number, and generating the flight control key list according to the flight control key list application request specifically includes:

[0042] Obtain the current flight plan corresponding to the drone through the operator number;

[0043] Calculating the number of flight control keys required for flight control message transmission based on the current flight plan; and

[0044] Generate flight control keys corresponding to the number of flight control keys according to a preset algorithm to obtain the flight control key list.

[0045] Furthermore, after generating the flight control key list according to the flight control key list application request, the method further includes:

[0046] The correspondence between the operator number and the flight control key list is saved in a preset drone flight control key table.

[0047] Furthermore, the flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length corresponding to each field;

[0048] The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

[0049] Furthermore, if the flight control message is a flight control heartbeat message or a flight control telemetry message, the field description of the flight control message synchronized with the drone specifically includes:

[0050] Receive the first flight control heartbeat message or flight control telemetry message sent by the UAV, where the first flight control heartbeat message or flight control telemetry message carries a sequence number K and a field description corresponding to the encrypted flight control heartbeat message or flight control telemetry message;

[0051] The encrypted field description is decrypted based on the K and the flight control key list pre-stored in the system, and the decrypted field description is saved.

[0052] Furthermore, the transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0053] Receive the message ciphertext of the sequence number N and the non-first flight control heartbeat message or flight control telemetry message sent by the drone;

[0054] Decrypting the message ciphertext based on N and the flight control key list;

[0055] The field content of the non-first flight control heartbeat message or flight control telemetry message is obtained based on the decrypted non-first flight control heartbeat message or flight control telemetry message and the decrypted field description pre-stored in the program.

[0056] Furthermore, if the flight control message is a flight control remote control message, the field description of the flight control message synchronized with the drone specifically includes:

[0057] Determine the field description corresponding to the flight control remote control message;

[0058] Selecting a flight control key with a serial number K from the flight control key list as the first flight control key;

[0059] Encrypting the field description corresponding to the flight control remote control message using the first flight control key;

[0060] Sending a first flight control remote control message to the drone, the first flight control remote control message carrying the K and the encrypted field description, so that the drone decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

[0061] Furthermore, the transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0062] Selecting a flight control key with a serial number of N from the flight control key list as the second flight control key, where N is not equal to K;

[0063] Generate a non-first flight control remote control message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field;

[0064] Encrypting the non-first flight control remote control message using the second flight control key to obtain a message ciphertext;

[0065] Sending N and the message ciphertext to the drone, so that the drone decrypts the message ciphertext based on N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control remote control message based on the decrypted non-first flight control remote control message and its own pre-stored decrypted field description.

[0066] In a third aspect, the present invention provides a device for transmitting flight control messages of a drone, which is provided on a drone, and comprises:

[0067] A key list receiving module is used to receive a flight control key list sent by a target UAV service platform, so as to synchronize the flight control key lists of the UAV and the target UAV service platform. The target UAV service platform is a UAV service platform pre-deployed on the mobile edge computing MEC.

[0068] A first field synchronization module, connected to the key list receiving module, is used to synchronize the flight control message field description with the target UAV service platform;

[0069] A first message transmission module is connected to the first field synchronization module and is used to transmit flight control messages between the drone and the target drone service platform based on the flight control message field description and the flight control key list.

[0070] In a fourth aspect, the present invention provides a device for transmitting drone flight control messages, which is provided on a target drone service platform, wherein the target drone service platform is a drone service platform pre-deployed on a mobile edge computing (MEC). The device includes:

[0071] A key list sending module is used to send a flight control key list to the UAV so as to synchronize the flight control key lists of the UAV and the target UAV service platform;

[0072] A second field synchronization module, connected to the key list sending module, is used to synchronize the flight control message field description with the UAV;

[0073] A second message transmission module is connected to the second field synchronization module and is used to transmit flight control messages between the drone and the target drone service platform based on the flight control message field description and the flight control key list.

[0074] In a fifth aspect, the present invention provides a device for transmitting drone flight control messages, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the method for transmitting drone flight control messages described in the first or second aspect above.

[0075] The present invention provides a method and device for transmitting UAV flight control messages, in which a UAV receives a flight control key list sent by a target UAV service platform, so that the flight control key lists of the UAV and the target UAV service platform are kept synchronized, thereby enabling key collaboration between the UAV and the UAV service platform and improving data security; at the same time, since the target UAV service platform is a UAV service platform pre-deployed on MEC, it can reduce the risk of Internet leakage and reduce the transmission delay between the UAV and the UAV service platform; in addition, by synchronizing the flight control message field description before sending the flight control message, the data recording activity and ease of use can be improved, solving the problem in the related art that the interaction between UAVs and UAV service platforms generally uses a fixed-length instruction mode, which makes it difficult to extend fields and has no security authentication mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 This is a flow chart of a method for transmitting UAV flight control messages according to Example 1 of the present invention;

[0077] Figure 2 This is a schematic diagram of the interaction between a UAV and a target UAV service platform for synchronizing a flight control key list according to an embodiment of the present invention;

[0078] Figure 3 This is a schematic diagram of the interaction between a UAV and a target UAV service platform transmitting flight control heartbeat messages according to an embodiment of the present invention;

[0079] Figure 4 This is a schematic diagram of the interaction between a UAV and a target UAV service platform transmitting flight control telemetry messages according to an embodiment of the present invention;

[0080] Figure 5 This is a schematic diagram of the interaction between a UAV and a target UAV service platform in transmitting flight control and remote control messages according to an embodiment of the present invention;

[0081] Figure 6 This is a flowchart of a method for transmitting UAV flight control messages according to embodiment 2 of the present invention;

[0082] Figure 7 This is a schematic structural diagram of a device for transmitting flight control messages of a UAV according to embodiment 3 of the present invention;

[0083] Figure 8 This is a schematic structural diagram of a device for transmitting flight control messages of a UAV according to embodiment 4 of the present invention;

[0084] Figure 9 This is a structural diagram of a transmission device for UAV flight control messages according to Example 5 of the present invention. DETAILED DESCRIPTION

[0085] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0086] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention rather than to limit the present invention.

[0087] It is understood that, in the absence of conflict, the various embodiments of the present invention and the various features in the embodiments may be combined with each other.

[0088] It can be understood that, for the convenience of description, the drawings of the present invention only show parts related to the present invention, while parts unrelated to the present invention are not shown in the drawings.

[0089] It can be understood that each unit and module involved in the embodiments of the present invention may correspond to only one physical structure, or may be composed of multiple physical structures, or multiple units and modules may be integrated into one physical structure.

[0090] It will be understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of the present invention may occur in an order different from that marked in the drawings.

[0091] It is understood that the flowcharts and block diagrams of the present invention illustrate the possible architectures, functions, and operations of the systems, devices, equipment, and methods according to various embodiments of the present invention. Each box in the flowchart or block diagram may represent a unit, module, program segment, or code, which contains executable instructions for implementing the specified functions. Moreover, each box or combination of boxes in the block diagram and flowchart may be implemented using a hardware-based system that implements the specified functions, or may be implemented using a combination of hardware and computer instructions.

[0092] It can be understood that the units and modules involved in the embodiments of the present invention can be implemented by software or hardware. For example, the units and modules can be located in a processor.

[0093] Example 1:

[0094] This embodiment provides a method for transmitting flight control messages of a UAV, which is applied to UAVs, such as Figure 1 As shown, the method includes:

[0095] Step S101: Receive a flight control key list sent by a target drone service platform to synchronize the flight control key lists of the drone and the target drone service platform, wherein the target drone service platform is a drone service platform pre-deployed on MEC (Mobile Edge Computing).

[0096] In this embodiment, the flight control key list includes multiple flight control keys, and the flight control keys are used to encrypt transmitted flight control messages to improve data security.

[0097] Optionally, before receiving the flight control key list sent by the target UAV service platform, the method further includes:

[0098] Send a flight control key list application request to the target UAV service platform, so that the target UAV service platform generates the flight control key list according to the flight control key list application request.

[0099] In this embodiment, the flight control key list request may include a carrier number, such as an MSISDN (Mobile Subscriber International ISDN). Upon receiving the request, the target UAV service platform generates the flight control key list based on the flight control key list request. Specifically, the target UAV service platform first obtains the current flight plan corresponding to the UAV using the carrier number, then calculates the number of flight control keys required for flight control message transmission based on the current flight plan, and then generates flight control keys corresponding to the number of flight control keys using a preset algorithm to obtain the flight control key list.

[0100] Optionally, before sending the flight control key list application request to the target UAV service platform, the method further includes:

[0101] Sending a flight control key list application request to the source UAV service platform, so that the source UAV service platform sends a deployment request to the MEC for edge deployment on the MEC, and the MEC deploys the source UAV service platform on the MEC as the target UAV service platform based on the deployment request;

[0102] Receive the deployment address returned by the source drone service platform;

[0103] The sending of the flight control key list request to the target UAV service platform specifically includes:

[0104] Resend the flight control key list application request to the target drone service platform corresponding to the deployment address.

[0105] In this embodiment, the drone box starts and sends a flight control key list application request to the source drone service platform, which carries the operator number MSISDN and base station ID. The source drone service platform applies to the MEC where the base station ID is located to deploy the source drone service platform on the edge of the MEC. The deployment request carries the platform name, IP (Internet Protocol) or URL and MEC deployment package (code or container component). After receiving the deployment request, the MEC creates an edge deployment space and loads and runs the MEC deployment package in the edge deployment space according to the description of the MEC deployment package, generates the access address MEC URL of the edge deployment space, and returns the MEC URL to the source drone service platform. The source drone service platform requires the drone to redirect the relevant request to the deployment address specified by the MEC URL. The drone sends a flight control key list application request to the target drone service platform in the MEC corresponding to the deployment address, which carries the operator number MSISDN and base station ID. The target drone service platform obtains the drone's current flight plan through the MSISDN, calculates the number of keys L required for flight control message transmission, generates a flight control key list S of L according to the key algorithm, and saves the correspondence between the operator number and the flight control key list in a preset drone flight control key table. The drone flight control key table is shown in Table 1:

[0106] Table 1: UAV flight control key table

[0107]

[0108]

[0109] Step S102: Synchronize flight control message field description with the target UAV service platform.

[0110] Optionally, the flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length corresponding to each field;

[0111] The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

[0112] In this embodiment, the flight control message field description includes a flight control heartbeat message field description, a flight control telemetry message field description, and a flight control remote control message field description. The flight control heartbeat message field description, the flight control telemetry message field description, and the flight control remote control message field description are shown in Table 2, Table 3, and Table 4, respectively:

[0113] Table 2: Flight control heartbeat message field description

[0114]

[0115] The heartbeat message field description format of the FIELD_DESC attribute is as follows:

[0116] {

[0117] 'Field 1 Name': Field 1 length,

[0118] 'Field 2 Name': Field 2 length,

[0119] …

[0120] 'Field n Name': Field n length,

[0121] }

[0122] For example:

[0123] {

[0124] 'IMEI':14,

[0125] 'ICCID':20

[0126] …

[0127] }

[0128] Table 3: Flight control telemetry message field description

[0129]

[0130] The telemetry message field description format of the MS_DESC attribute is as follows:

[0131] {

[0132] 'Field 1 Name': Field 1 length,

[0133] 'Field 2 Name': Field 2 length,

[0134] …

[0135] 'Field n Name': Field n length,

[0136] }

[0137] For example:

[0138] {

[0139] 'lon':10,

[0140] 'lat':10

[0141] …

[0142] }

[0143] Table 4: Flight control remote control message field description

[0144]

[0145] The remote control message field description format of the MC_DESC attribute is as follows:

[0146] {

[0147] 'Field 1 Name': Field 1 length,

[0148] 'Field 2 Name': Field 2 length,

[0149] …

[0150] 'Field n Name': Field n length,

[0151] }

[0152] For example:

[0153] {

[0154] 'type':10,

[0155] 'cmd':10

[0156] …

[0157] }

[0158] Optionally, if the flight control message is a flight control heartbeat message or a flight control telemetry message, the field description of the flight control message synchronized with the target UAV service platform specifically includes:

[0159] Determine the field description corresponding to the flight control heartbeat message or the flight control telemetry message;

[0160] Selecting a flight control key with a serial number K from the flight control key list as the first flight control key;

[0161] Encrypting a field description corresponding to the flight control heartbeat message or the flight control telemetry message using the first flight control key;

[0162] Send the first flight control heartbeat message or flight control telemetry message to the target UAV service platform, where the first flight control heartbeat message or flight control telemetry message carries the K and the encrypted field description, so that the target UAV service platform decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

[0163] In this embodiment, when the drone sends a flight control heartbeat message or a flight control telemetry message for the first time (i.e., the first flight control heartbeat message or flight control telemetry message), it randomly selects a flight control key with serial number K from the flight control key list S, encrypts the transmitted flight control message field description, and sends the MSISDN, the serial number K used for this encryption, and the flight control heartbeat message or flight control telemetry message field description (ciphertext) to the target drone service platform; the target drone service platform searches for the flight control key with serial number K in the drone flight control key table according to the MSISDN, decrypts the ciphertext to obtain the sequence number-field-length relationship of the flight control heartbeat message, and stores it in the flight control heartbeat field table or the flight control telemetry field table, where the flight control heartbeat field table or the flight control telemetry field table are shown in Table 5 and Table 6, respectively.

[0164] Table 5: Flight control heartbeat field table

[0165]

[0166] Table 6: Flight control telemetry field table

[0167]

[0168]

[0169] Optionally, if the flight control message is a flight control remote control message, the field description of the flight control message synchronized with the target UAV service platform specifically includes:

[0170] Receive the first flight control remote control message sent by the target UAV service platform, where the first flight control remote control message carries a sequence number K and a field description of the encrypted flight control remote control message;

[0171] The encrypted field description is decrypted based on the K and the flight control key list, and the decrypted field description is saved.

[0172] In this embodiment, the target UAV service platform first determines the field description corresponding to the flight control remote control message; then selects the flight control key with serial number K from the flight control key list as the first flight control key; then uses the first flight control key to encrypt the field description corresponding to the flight control remote control message; finally, sends the first flight control remote control message to the UAV, and the first flight control remote control message carries the K and the encrypted field description, so that the UAV decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

[0173] Specifically, the target UAV service platform may store the decrypted field description in a flight control and remote control field table, where the flight control and remote control field table may be as shown in Table 7.

[0174] Table 7: Flight control remote control field table

[0175]

[0176]

[0177] Step S103: Transmitting a flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list.

[0178] Optionally, transmitting the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0179] Selecting a flight control key with a serial number of N from the flight control key list as the second flight control key, where N is not equal to K;

[0180] Generate a non-first flight control heartbeat message or flight control telemetry message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field;

[0181] Encrypting the non-first flight control heartbeat message or flight control telemetry message using the second flight control key to obtain a message ciphertext;

[0182] Send the N and the message ciphertext to the target UAV service platform, so that the target UAV service platform decrypts the message ciphertext based on the N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control heartbeat message or flight control telemetry message based on the decrypted non-first flight control heartbeat message or flight control telemetry message and its own pre-stored decrypted field description.

[0183] Specifically, when transmitting a flight control heartbeat message or flight control telemetry message for the second or subsequent time, the drone randomly selects a flight control key with sequence number N from the flight control key list S, encrypts the transmitted flight control heartbeat message or flight control telemetry message, and sends the MSISDN, the sequence number N used for this encryption, and the flight control heartbeat message or flight control telemetry message (ciphertext) to the target drone service platform. The target drone service platform searches the drone flight control key table for the flight control key with sequence number N based on the MSISDN, decrypts the ciphertext to obtain the flight control heartbeat message or flight control telemetry message, and then obtains the message field content based on the flight control heartbeat field table or flight control telemetry field table. The transmission format of the flight control heartbeat message and flight control telemetry message is shown in Table 8.

[0184] Table 8: Transmission format of flight control heartbeat message and flight control telemetry message

[0185]

[0186] Optionally, transmitting the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0187] Receive the message ciphertext of the sequence number N and the non-first flight control remote control message sent by the target UAV service platform;

[0188] Decrypting the message ciphertext based on N and the flight control key list;

[0189] The field content of the non-first flight control remote control message is obtained based on the decrypted non-first flight control remote control message and the decrypted field description pre-stored in the system.

[0190] Specifically, when the target UAV service platform transmits a flight control remote control message for the second or subsequent time, it first selects a flight control key with a sequence number of N from the flight control key list as the second flight control key, where N is not equal to K. Then, based on the total length of all fields in the flight control message field description and the name and length of each field, it generates a non-first flight control remote control message. It then uses the second flight control key to encrypt the non-first flight control remote control message to obtain a message ciphertext. Finally, it sends N and the message ciphertext to the UAV, so that the UAV decrypts the message ciphertext based on N and its pre-stored flight control key list, and obtains the field content of the non-first flight control remote control message based on the decrypted non-first flight control remote control message and its pre-stored decrypted field description. The transmission format of the flight control remote control message is shown in Table 9.

[0191] Table 9: Transmission format of flight control remote control messages

[0192]

[0193] Specifically, refer to Figure 2 , shows a schematic diagram of interaction between a UAV and a target UAV service platform for synchronizing a flight control key list according to an embodiment of the present invention. In this embodiment, the method includes:

[0194] Step S01: The drone box starts up and sends a flight control key list request to the source drone service platform. The request carries the operator number MSISDN and base station ID.

[0195] Step S02: The source drone service platform applies to the MEC where the base station ID is located to deploy the source drone service platform on the MEC. The deployment request carries the platform name, IP or URL, and MEC deployment package (code or container component).

[0196] Steps S03-04: MEC creates an edge deployment space, loads and runs the MEC deployment package in the edge deployment space according to its description, generates the access address MEC URL of the edge deployment space, and returns the MEC URL to the source drone service platform;

[0197] Step S05: The source UAV service platform requires the UAV to redirect the relevant request to the deployment address specified by the MEC URL;

[0198] Step S06: The UAV sends a flight control key list request to the target UAV service platform in the MEC corresponding to the deployment address. The request carries the operator number MSISDN and base station ID.

[0199] Step S07: The target UAV service platform obtains the UAV's current flight plan through the MSISDN, calculates the number of keys L required for flight control message transmission, generates a flight control key list S of L according to the key algorithm, and saves the MSISDN and flight control key list S to the UAV flight control key table;

[0200] Among them, the drone flight control key table includes the operator number MSISDN, validity period, flight control key list length, flight control key list, generation time and whether it is valid.

[0201] Step S08: Send the flight control key list S to the drone;

[0202] Step S09: The drone saves the flight control key list S.

[0203] Specifically, the drone saves the corresponding flight control keys in the flight control key list S in order (1, 2..., L).

[0204] Specifically, refer to Figure 3 , shows a schematic diagram of the interaction between a UAV and a target UAV service platform for transmitting flight control heartbeat messages according to an embodiment of the present invention. In this embodiment, the method includes:

[0205] Step S21: The UAV sends a flight control heartbeat message for the first time (i.e., the first flight control heartbeat message), randomly selects a flight control key with a sequence number K from the flight control key list S, encrypts the transmitted flight control heartbeat message field description, and sends the MSISDN, the sequence number K used for this encryption, and the flight control heartbeat message field description (ciphertext) to the target UAV service platform; wherein the flight control heartbeat message field description includes the sequence number SN, the total length of the flight control heartbeat message field, the recording time, and the detailed field description (including the name and length of each field).

[0206] Step S22: The target UAV service platform searches for the flight control key with serial number K in the UAV flight control key table according to the MSISDN, decrypts the ciphertext to obtain the sequence number-field-length relationship of the flight control heartbeat message, and stores it in the flight control heartbeat field table. The flight control heartbeat field table includes the sequence number SN, recording time, heartbeat field 1, heartbeat field 2, ..., heartbeat field n;

[0207] Step S23: The target UAV service platform sends a confirmation completion message to the UAV, which carries the MSISDN;

[0208] Step S24: The UAV randomly selects a flight control key with serial number N1 from the flight control key list S, encrypts the transmitted flight control heartbeat message, and sends the MSISDN, the encryption serial number N1, and the flight control heartbeat message (ciphertext) to the target UAV service platform;

[0209] Step S25: The target UAV service platform searches for the flight control key with serial number N1 in the UAV flight control key table according to the MSISDN, decrypts the ciphertext to obtain the flight control heartbeat message, and then obtains the field content of the flight control heartbeat message according to the flight control heartbeat field table;

[0210] Step S26: For subsequent transmission of the flight control heartbeat message, the UAV randomly selects a flight control key with serial number N2 from the flight control key list S, encrypts the transmitted flight control heartbeat message, and sends the MSISDN, the serial number N2 used for this encryption, and the flight control heartbeat message (ciphertext) to the target UAV service platform;

[0211] Step S27: The target UAV service platform searches for the flight control key with serial number N2 in the UAV flight control key table according to the MSISDN, decrypts the ciphertext to obtain the flight control heartbeat message, and then obtains the field content of the flight control heartbeat message according to the flight control heartbeat field table.

[0212] Specifically, refer to Figure 4 , which shows an interactive diagram of transmitting flight control telemetry messages between a UAV and a target UAV service platform according to an embodiment of the present invention. In this embodiment, the method includes:

[0213] Step S31: When the UAV sends a flight control telemetry message for the first time (i.e., the first flight control telemetry message), it randomly selects a flight control key with a sequence number K from the flight control key list S, encrypts the transmitted flight control telemetry message field description, and sends the MSISDN, the sequence number K used for this encryption, and the flight control telemetry message field description (ciphertext) to the target UAV service platform. The flight control telemetry message field description includes the sequence number SN, the total length of the flight control telemetry message field, the recording time, and a detailed field description (including the name and length of each field).

[0214] Step S32: The target UAV service platform searches for the flight control key with serial number K in the UAV flight control key table based on the MSISDN, decrypts the ciphertext to obtain the sequence number-field-length relationship of the flight control telemetry message, and stores it in the flight control telemetry field table. The flight control telemetry field table includes the serial number SN, recording time, telemetry field 1, telemetry field 2, ..., telemetry field n;

[0215] Step S33: The target UAV service platform sends a confirmation completion message to the UAV, which carries the MSISDN;

[0216] Step S34: The UAV randomly selects a flight control key with serial number N1 from the flight control key list S, encrypts the transmitted flight control telemetry message, and sends the MSISDN, the serial number N1 used for this encryption, and the flight control telemetry message (ciphertext) to the target UAV service platform;

[0217] Step S35: The target UAV service platform searches for the flight control key with serial number N1 in the UAV flight control key table according to the MSISDN, decrypts the ciphertext to obtain the flight control telemetry message, and then obtains the field content of the flight control telemetry message according to the flight control telemetry field table;

[0218] Step S36: For subsequent transmission of flight control telemetry messages, the UAV randomly selects a flight control key with sequence number N2 from the flight control key list S, encrypts the transmitted flight control telemetry message, and sends the MSISDN, sequence number N2 used for this encryption, and the flight control telemetry message (ciphertext) to the target UAV service platform;

[0219] Step S37: The target UAV service platform searches for the flight control key with serial number N2 in the UAV flight control key table according to the MSISDN, decrypts the ciphertext to obtain the flight control telemetry message, and then obtains the field content of the flight control telemetry message according to the flight control telemetry field table.

[0220] Specifically, refer to Figure 5 , shows a schematic diagram of the interaction between a UAV and a target UAV service platform for transmitting flight control remote control messages according to an embodiment of the present invention. In this embodiment, the method includes:

[0221] Step S41: The target UAV service platform sends a flight control remote control message for the first time (i.e., the first flight control remote control message). It randomly selects a flight control key with a sequence number K from the flight control key list S, encrypts the transmitted flight control remote control message field description, and sends the MSISDN, the sequence number K used for this encryption, and the flight control remote control message field description (ciphertext) to the UAV. The flight control remote control message field description includes the sequence number SN, the total length of the flight control remote control message field, the recording time, and a detailed field description (including the name and length of each field).

[0222] Step S42: The drone searches for the flight control key with serial number K in the flight control key list S according to the MSISDN, decrypts the ciphertext to obtain the sequence number-field-length relationship of the flight control remote control message, and stores it in the flight control remote control field table. The flight control remote control field table includes the serial number SN, recording time, remote control field 1, remote control field 2, ..., remote control field n;

[0223] Step S43: The UAV sends a confirmation completion message to the target UAV service platform, which carries the MSISDN;

[0224] Step S44: The target UAV service platform randomly selects a flight control key with serial number N1 from the flight control key list S, encrypts the transmitted flight control remote control message, and sends the MSISDN, the serial number N1 used for this encryption, and the flight control remote control message (ciphertext) to the target UAV service platform;

[0225] Step S45: The drone searches for the flight control key with serial number N1 in the flight control key list according to the MSISDN, decrypts the ciphertext to obtain the flight control remote control message, and then obtains the field content of the flight control remote control message according to the flight control remote control field table;

[0226] Step S46: For subsequent flight control remote control message transmission, the target UAV service platform randomly selects a flight control key with sequence number N2 from the flight control key list S, encrypts the transmitted flight control remote control message, and sends the MSISDN, the sequence number N2 used for this encryption, and the flight control remote control message (ciphertext) to the UAV;

[0227] Step S47: The drone searches for the flight control key with serial number N2 in the flight control key list according to the MSISDN, decrypts the ciphertext to obtain the flight control remote control message, and then obtains the field content of the flight control remote control message according to the flight control remote control field table.

[0228] The embodiment of the present invention provides a method for transmitting drone flight control messages, in which a drone receives a flight control key list sent by a target drone service platform, so that the flight control key lists of the drone and the target drone service platform are kept synchronized, thereby enabling key collaboration between the drone and the drone service platform and improving data security; at the same time, since the target drone service platform is a drone service platform pre-deployed on the MEC, the risk of Internet leakage and the transmission delay between the drone and the drone service platform can be reduced; in addition, by synchronizing the flight control message field description before sending the flight control message, the data recording activity and ease of use can be improved, which solves the problem in the related art that the interaction between drones and drone service platforms generally uses a fixed-length instruction mode, which makes it difficult to extend fields and has no security authentication mechanism.

[0229] Example 2:

[0230] like Figure 6 As shown, this embodiment provides a method for transmitting drone flight control messages, which is applied to a target drone service platform. The target drone service platform is a drone service platform pre-deployed on a mobile edge computing MEC. The method includes:

[0231] Step S201: Sending a flight control key list to the drone to synchronize the flight control key lists of the drone and the target drone service platform;

[0232] Step S202: Synchronize flight control message field description with the UAV;

[0233] Step S203: Transmitting a flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list.

[0234] Optionally, before sending the flight control key list to the drone, the method further includes:

[0235] Receive a flight control key list request sent by the drone;

[0236] Generate the flight control key list according to the flight control key list application request.

[0237] Optionally, the flight control key list application request carries an operator number, and generating the flight control key list according to the flight control key list application request specifically includes:

[0238] Obtain the current flight plan corresponding to the drone through the operator number;

[0239] Calculating the number of flight control keys required for flight control message transmission based on the current flight plan; and

[0240] Generate flight control keys corresponding to the number of flight control keys according to a preset algorithm to obtain the flight control key list.

[0241] Optionally, after generating the flight control key list according to the flight control key list application request, the method further includes:

[0242] The correspondence between the operator number and the flight control key list is saved in a preset drone flight control key table.

[0243] Optionally, the flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length corresponding to each field;

[0244] The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

[0245] Optionally, if the flight control message is a flight control heartbeat message or a flight control telemetry message, the field description of the flight control message synchronized with the drone specifically includes:

[0246] Receive the first flight control heartbeat message or flight control telemetry message sent by the UAV, where the first flight control heartbeat message or flight control telemetry message carries a sequence number K and a field description corresponding to the encrypted flight control heartbeat message or flight control telemetry message;

[0247] The encrypted field description is decrypted based on the K and the flight control key list pre-stored in the system, and the decrypted field description is saved.

[0248] Optionally, transmitting the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0249] Receive the message ciphertext of the sequence number N and the non-first flight control heartbeat message or flight control telemetry message sent by the drone;

[0250] Decrypting the message ciphertext based on N and the flight control key list;

[0251] The field content of the non-first flight control heartbeat message or flight control telemetry message is obtained based on the decrypted non-first flight control heartbeat message or flight control telemetry message and the decrypted field description pre-stored in the program.

[0252] Optionally, if the flight control message is a flight control remote control message, the field description of the flight control message synchronized with the drone specifically includes:

[0253] Determine the field description corresponding to the flight control remote control message;

[0254] Selecting a flight control key with a serial number K from the flight control key list as the first flight control key;

[0255] Encrypting the field description corresponding to the flight control remote control message using the first flight control key;

[0256] Sending a first flight control remote control message to the drone, the first flight control remote control message carrying the K and the encrypted field description, so that the drone decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

[0257] Optionally, transmitting the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes:

[0258] Selecting a flight control key with a serial number of N from the flight control key list as the second flight control key, where N is not equal to K;

[0259] Generate a non-first flight control remote control message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field;

[0260] Encrypting the non-first flight control remote control message using the second flight control key to obtain a message ciphertext;

[0261] Sending N and the message ciphertext to the drone, so that the drone decrypts the message ciphertext based on N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control remote control message based on the decrypted non-first flight control remote control message and its own pre-stored decrypted field description.

[0262] Example 3:

[0263] like Figure 7 As shown, this embodiment provides a UAV flight control message transmission device, which is provided on a UAV and is used to execute the UAV flight control message transmission method in the above-mentioned embodiment 1. The device includes:

[0264] A key list receiving module 11 is configured to receive a flight control key list sent by a target UAV service platform, so as to synchronize the flight control key lists of the UAV and the target UAV service platform. The target UAV service platform is a UAV service platform pre-deployed on the mobile edge computing MEC.

[0265] A first field synchronization module 12 is connected to the key list receiving module 11 and is used to synchronize the flight control message field description with the target UAV service platform;

[0266] The first message transmission module 13 is connected to the first field synchronization module 12 and is used to transmit the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list.

[0267] Optionally, the device further comprises:

[0268] The first sending module is configured to send a flight control key list application request to the target UAV service platform, so that the target UAV service platform generates the flight control key list according to the flight control key list application request.

[0269] Optionally, the device further comprises:

[0270] A second sending module is configured to send a flight control key list application request to the source UAV service platform, so that the source UAV service platform sends a deployment request to the MEC for edge deployment on the MEC, and the MEC deploys the source UAV service platform on the MEC as the target UAV service platform based on the deployment request;

[0271] A first receiving module is configured to receive the deployment address returned by the source drone service platform;

[0272] The first sending module is specifically configured to:

[0273] Resend the flight control key list application request to the target drone service platform corresponding to the deployment address.

[0274] Optionally, the flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length corresponding to each field;

[0275] The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

[0276] Optionally, if the flight control message is a flight control heartbeat message or a flight control telemetry message, the first field synchronization module 12 specifically includes:

[0277] A first determining unit, configured to determine a field description corresponding to the flight control heartbeat message or the flight control telemetry message;

[0278] A first selection unit is configured to select a flight control key with a serial number K from the flight control key list as a first flight control key;

[0279] A first encryption unit is configured to encrypt a field description corresponding to the flight control heartbeat message or the flight control telemetry message using the first flight control key;

[0280] The first sending unit is used to send a first flight control heartbeat message or a flight control telemetry message to the target UAV service platform, where the first flight control heartbeat message or the flight control telemetry message carries the K and the encrypted field description, so that the target UAV service platform decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

[0281] Optionally, the first message transmission module 13 specifically includes:

[0282] A second selection unit is configured to select a flight control key with a serial number N from the flight control key list as a second flight control key, where N is not equal to K;

[0283] A first generating unit is configured to generate a non-first flight control heartbeat message or a flight control telemetry message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field;

[0284] A second encryption unit is configured to encrypt the non-first flight control heartbeat message or flight control telemetry message using the second flight control key to obtain a message ciphertext;

[0285] The second sending unit is used to send the N and the message ciphertext to the target UAV service platform, so that the target UAV service platform decrypts the message ciphertext based on the N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control heartbeat message or flight control telemetry message based on the decrypted non-first flight control heartbeat message or flight control telemetry message and its own pre-stored decrypted field description.

[0286] Optionally, if the flight control message is a flight control remote control message, the first field synchronization module 12 specifically includes:

[0287] A first receiving unit is configured to receive a first flight control remote control message sent by the target UAV service platform, wherein the first flight control remote control message carries a sequence number K and a field description of the encrypted flight control remote control message;

[0288] The first decryption unit is used to decrypt the encrypted field description based on the K and the flight control key list, and save the decrypted field description.

[0289] Optionally, the first message transmission module 13 specifically includes:

[0290] The second receiving unit is configured to receive a message ciphertext of a sequence number N and a non-first flight control remote control message sent by the target UAV service platform;

[0291] A second decryption unit, configured to decrypt the message ciphertext based on N and the flight control key list;

[0292] The first acquiring unit is configured to acquire the field content of the non-first flight control remote control message based on the decrypted non-first flight control remote control message and the decrypted field description pre-stored in the unit.

[0293] Example 4:

[0294] like Figure 8 As shown, this embodiment provides a UAV flight control message transmission device, which is provided on a UAV and is used to execute the UAV flight control message transmission method in the above-mentioned embodiment 2. The device includes:

[0295] The key list sending module 21 is used to send the flight control key list to the UAV so as to synchronize the flight control key lists of the UAV and the target UAV service platform;

[0296] A second field synchronization module 22 is connected to the key list sending module 21 and is used to synchronize the flight control message field description with the UAV;

[0297] The second message transmission module 23 is connected to the second field synchronization module 22 and is used to transmit the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list.

[0298] Optionally, the device further comprises:

[0299] A second receiving module is used to receive a flight control key list application request sent by the drone;

[0300] The first generating module is configured to generate the flight control key list according to the flight control key list application request.

[0301] Optionally, the flight control key list application request carries an operator number, and the first generating module specifically includes:

[0302] A second obtaining unit is configured to obtain the current flight plan corresponding to the drone through the operator number;

[0303] A first calculation unit is configured to calculate the number of flight control keys required for flight control message transmission according to the current flight plan;

[0304] The second generating unit is used to generate flight control keys corresponding to the number of flight control keys according to a preset algorithm to obtain the flight control key list.

[0305] Optionally, the device further comprises:

[0306] The first saving module is used to save the corresponding relationship between the operator number and the flight control key list in a preset drone flight control key table.

[0307] Optionally, the flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length corresponding to each field;

[0308] The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

[0309] Optionally, if the flight control message is a flight control heartbeat message or a flight control telemetry message, the second field synchronization module 22 specifically includes:

[0310] A third receiving unit is configured to receive a first flight control heartbeat message or a flight control telemetry message sent by the UAV, where the first flight control heartbeat message or the flight control telemetry message carries a sequence number K and a field description corresponding to the encrypted flight control heartbeat message or the flight control telemetry message;

[0311] The third decryption unit is used to decrypt the encrypted field description based on the K and its own pre-stored flight control key list, and save the decrypted field description.

[0312] Optionally, the second message transmission module 23 specifically includes:

[0313] A fourth receiving unit is configured to receive a message ciphertext of a sequence number N and a non-first flight control heartbeat message or a flight control telemetry message sent by the drone;

[0314] a fourth decryption unit, configured to decrypt the message ciphertext based on N and the flight control key list;

[0315] The third acquisition unit is used to obtain the field content of the non-first flight control heartbeat message or flight control telemetry message based on the decrypted non-first flight control heartbeat message or flight control telemetry message and the decrypted field description pre-stored in itself.

[0316] Optionally, if the flight control message is a flight control remote control message, the second field synchronization module 22 specifically includes:

[0317] A second determining unit, configured to determine a field description corresponding to the flight control remote control message;

[0318] A third selection unit is configured to select a flight control key with a serial number K from the flight control key list as a first flight control key;

[0319] a third encryption unit, configured to encrypt a field description corresponding to the flight control remote control message using the first flight control key;

[0320] The third sending unit is used to send a first flight control remote control message to the drone, where the first flight control remote control message carries the K and the encrypted field description, so that the drone decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

[0321] Optionally, the second message transmission module 23 specifically includes:

[0322] a fourth selection unit, configured to select a flight control key with a serial number N from the flight control key list as a second flight control key, where N is not equal to K;

[0323] A third generating unit is configured to generate a non-first flight control remote control message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field;

[0324] a fourth encryption unit, configured to encrypt the non-first flight control remote control message using the second flight control key to obtain a message ciphertext;

[0325] The fourth sending unit is used to send the N and the message ciphertext to the drone, so that the drone decrypts the message ciphertext based on the N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control remote control message based on the decrypted non-first flight control remote control message and its own pre-stored decrypted field description.

[0326] Example 5:

[0327] refer to Figure 9 This embodiment provides a device for transmitting drone flight control messages, including a memory 32 and a processor 34. The memory 32 stores a computer program, and the processor 34 is configured to run the computer program to execute the drone flight control message transmission method in Example 1 or Example 2.

[0328] The memory 32 is connected to the processor 34 . The memory 32 may be a flash memory, a read-only memory, or other memory. The processor 34 may be a central processing unit or a single-chip microcomputer.

[0329] In the transmission device of UAV flight control messages provided in Example 2 and Example 5 of the present invention, the UAV receives the flight control key list sent by the target UAV service platform, so that the flight control key lists of the UAV and the target UAV service platform are kept synchronized, thereby enabling key collaboration between the UAV and the UAV service platform and improving data security; at the same time, since the target UAV service platform is a UAV service platform pre-deployed on the MEC, it can reduce the risk of Internet leakage and reduce the transmission delay between the UAV and the UAV service platform; in addition, by synchronizing the flight control message field description first and then sending the flight control message, the data recording activity and ease of use can be improved, which solves the problem that the interaction between UAVs and UAV service platforms in the related technology generally uses a fixed-length instruction mode, which makes it difficult to extend fields and has no security authentication mechanism.

[0330] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for transmitting flight control messages of a UAV, characterized in that: Applied to a drone, the method comprises: Receive a flight control key list sent by a target UAV service platform to synchronize the flight control key lists of the UAV and the target UAV service platform, where the target UAV service platform is pre-deployed on a mobile edge computing (MEC) platform. Synchronize flight control message field description with the target UAV service platform; Transmitting a flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list; If the flight control message is a flight control heartbeat message or a flight control telemetry message, the field description of the flight control message synchronized with the target UAV service platform specifically includes: Determine the field description corresponding to the flight control heartbeat message or the flight control telemetry message; Selecting a flight control key with a serial number K from the flight control key list as the first flight control key; Encrypting a field description corresponding to the flight control heartbeat message or the flight control telemetry message using the first flight control key; Send the first flight control heartbeat message or flight control telemetry message to the target UAV service platform, where the first flight control heartbeat message or flight control telemetry message carries the K and the encrypted field description, so that the target UAV service platform decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

2. The method according to claim 1, characterized in that Before receiving the flight control key list sent by the target UAV service platform, the method further includes: Send a flight control key list application request to the target UAV service platform, so that the target UAV service platform generates the flight control key list according to the flight control key list application request.

3. The method according to claim 2, characterized in that Before sending the flight control key list application request to the target UAV service platform, the method further includes: Sending a flight control key list application request to the source UAV service platform, so that the source UAV service platform sends a deployment request to the MEC for edge deployment on the MEC, and the MEC deploys the source UAV service platform on the MEC as the target UAV service platform based on the deployment request; Receive the deployment address returned by the source drone service platform; The sending of the flight control key list request to the target UAV service platform specifically includes: Resend the flight control key list application request to the target drone service platform corresponding to the deployment address.

4. The method according to claim 1, wherein The flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length of each field; The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

5. The method according to claim 4, characterized in that The transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes: Selecting a flight control key with a serial number of N from the flight control key list as the second flight control key, where N is not equal to K; Generate a non-first flight control heartbeat message or flight control telemetry message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field; Encrypting the non-first flight control heartbeat message or flight control telemetry message using the second flight control key to obtain a message ciphertext; Send the N and the message ciphertext to the target UAV service platform, so that the target UAV service platform decrypts the message ciphertext based on the N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control heartbeat message or flight control telemetry message based on the decrypted non-first flight control heartbeat message or flight control telemetry message and its own pre-stored decrypted field description.

6. The method according to claim 4, characterized in that If the flight control message is a flight control remote control message, the field description of the flight control message synchronized with the target UAV service platform specifically includes: Receive the first flight control remote control message sent by the target UAV service platform, where the first flight control remote control message carries a sequence number K and a field description of the encrypted flight control remote control message; The encrypted field description is decrypted based on the K and the flight control key list, and the decrypted field description is saved.

7. The method according to claim 6, characterized in that The transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes: Receive the message ciphertext of the sequence number N and the non-first flight control remote control message sent by the target UAV service platform; Decrypting the message ciphertext based on N and the flight control key list; The field content of the non-first flight control remote control message is obtained based on the decrypted non-first flight control remote control message and the decrypted field description pre-stored in the system.

8. A method for transmitting flight control messages of a UAV, characterized in that: Applied to a target drone service platform, where the target drone service platform is a drone service platform pre-deployed on a mobile edge computing (MEC), the method includes: Sending a flight control key list to the drone to synchronize the flight control key lists of the drone with those of the target drone service platform; Description of the flight control message fields synchronized with the drone; Transmitting a flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list; If the flight control message is a flight control heartbeat message or a flight control telemetry message, the field description of the flight control message synchronized with the drone specifically includes: Receive the first flight control heartbeat message or flight control telemetry message sent by the UAV, where the first flight control heartbeat message or flight control telemetry message carries a sequence number K and a field description corresponding to the encrypted flight control heartbeat message or flight control telemetry message; The encrypted field description is decrypted based on the K and the flight control key list pre-stored in the system, and the decrypted field description is saved.

9. The method according to claim 8, characterized in that Before sending the flight control key list to the drone, the method further includes: Receive a flight control key list request sent by the drone; Generate the flight control key list according to the flight control key list application request.

10. The method according to claim 9, characterized in that The flight control key list application request carries an operator number, and generating the flight control key list according to the flight control key list application request specifically includes: Obtain the current flight plan corresponding to the drone through the operator number; Calculating the number of flight control keys required for flight control message transmission based on the current flight plan; and Generate flight control keys corresponding to the number of flight control keys according to a preset algorithm to obtain the flight control key list.

11. The method according to claim 10, characterized in that After generating the flight control key list according to the flight control key list application request, the method further includes: The correspondence between the operator number and the flight control key list is saved in a preset drone flight control key table.

12. The method according to claim 8, characterized in that The flight control message field description includes the total length of all fields corresponding to the flight control message and the name and length of each field; The flight control messages include: flight control heartbeat messages, flight control telemetry messages and flight control remote control messages.

13. The method according to claim 12, characterized in that The transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes: Receive the message ciphertext of the sequence number N and the non-first flight control heartbeat message or flight control telemetry message sent by the drone; Decrypting the message ciphertext based on N and the flight control key list; The field content of the non-first flight control heartbeat message or flight control telemetry message is obtained based on the decrypted non-first flight control heartbeat message or flight control telemetry message and the decrypted field description pre-stored in the program.

14. The method according to claim 12, characterized in that If the flight control message is a flight control remote control message, the field description of the flight control message synchronized with the drone specifically includes: Determine the field description corresponding to the flight control remote control message; Selecting a flight control key with a serial number K from the flight control key list as the first flight control key; Encrypting the field description corresponding to the flight control remote control message using the first flight control key; Sending a first flight control remote control message to the drone, the first flight control remote control message carrying the K and the encrypted field description, so that the drone decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

15. The method according to claim 14, characterized in that The transmitting of the flight control message between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list specifically includes: Selecting a flight control key with a serial number of N from the flight control key list as the second flight control key, where N is not equal to K; Generate a non-first flight control remote control message based on the total length of all fields in the flight control message field description and the name and length corresponding to each field; Encrypting the non-first flight control remote control message using the second flight control key to obtain a message ciphertext; Sending N and the message ciphertext to the drone, so that the drone decrypts the message ciphertext based on N and its own pre-stored flight control key list, and obtains the field content of the non-first flight control remote control message based on the decrypted non-first flight control remote control message and its own pre-stored decrypted field description.

16. A device for transmitting flight control messages of a UAV, characterized in that: Set on a drone, the device includes: A key list receiving module is used to receive a flight control key list sent by a target UAV service platform, so as to synchronize the flight control key lists of the UAV and the target UAV service platform. The target UAV service platform is a UAV service platform pre-deployed on the mobile edge computing MEC. A first field synchronization module, connected to the key list receiving module, is used to synchronize the flight control message field description with the target UAV service platform; a first message transmission module, connected to the first field synchronization module, for transmitting flight control messages between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list; If the flight control message is a flight control heartbeat message or a flight control telemetry message, the first field synchronization module specifically includes: A first determining unit, configured to determine a field description corresponding to the flight control heartbeat message or the flight control telemetry message; A first selection unit is configured to select a flight control key with a serial number K from the flight control key list as a first flight control key; A first encryption unit is configured to encrypt a field description corresponding to the flight control heartbeat message or the flight control telemetry message using the first flight control key; The first sending unit is used to send a first flight control heartbeat message or a flight control telemetry message to the target UAV service platform, where the first flight control heartbeat message or the flight control telemetry message carries the K and the encrypted field description, so that the target UAV service platform decrypts the encrypted field description based on the K and its own pre-stored flight control key list, and saves the decrypted field description.

17. A device for transmitting flight control messages of a UAV, characterized in that: The device is configured to be a target UAV service platform, where the target UAV service platform is a UAV service platform pre-deployed on a mobile edge computing (MEC). The device includes: A key list sending module is used to send a flight control key list to the UAV so as to synchronize the flight control key lists of the UAV and the target UAV service platform; A second field synchronization module, connected to the key list sending module, is used to synchronize the flight control message field description with the UAV; A second message transmission module, connected to the second field synchronization module, for transmitting flight control messages between the UAV and the target UAV service platform based on the flight control message field description and the flight control key list; If the flight control message is a flight control heartbeat message or a flight control telemetry message, the second field synchronization module specifically includes: A third receiving unit is configured to receive a first flight control heartbeat message or a flight control telemetry message sent by the UAV, where the first flight control heartbeat message or the flight control telemetry message carries a sequence number K and a field description corresponding to the encrypted flight control heartbeat message or the flight control telemetry message; The third decryption unit is used to decrypt the encrypted field description based on the K and its own pre-stored flight control key list, and save the decrypted field description.

18. A device for transmitting flight control messages of a UAV, characterized in that: It includes a memory and a processor, the memory storing a computer program, and the processor being configured to run the computer program to implement the method for transmitting the flight control message of the unmanned aerial vehicle as described in any one of claims 1 to 7, or to implement the method for transmitting the flight control message of the unmanned aerial vehicle as described in any one of claims 8 to 15.

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