Method and system for identifying and positioning networked unmanned aerial vehicle

Abstract

The invention relates to an identification and positioning method and system for a networked unmanned aerial vehicle, and belongs to the technical field of data processing. The method comprises the following steps: acquiring IMSI information of terminal equipment received by a detector in a target area; wherein a plurality of detectors are deployed in the target area in advance, and the detectors are configured to imitate the base station of the attachment to send broadcast messages; after the N detectors receive the IMSI information of the terminal equipment, the terminal equipment is positioned, and positioning information is obtained; after the terminal equipment is continuously positioned for multiple times and different positioning information is obtained, the speed of the terminal equipment is calculated based on the different positioning information, and the moving track of the terminal equipment is drawn; and based on the positioning information, the speed and the moving trajectory of the terminal device, determining whether the terminal device is a networked unmanned aerial vehicle. Through the above mode, effective identification and detection of the networked unmanned aerial vehicle are realized.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to an identification and positioning method and system for a networked unmanned aerial vehicle. Background Art

[0002] With the rapid development of drone technology and the continuous extension of drone applications, drones have become an indispensable part of the low-altitude economy. While drones bring convenience to power line detection, agricultural and forestry plant protection, environmental monitoring, geological exploration, industrial operations, logistics and express delivery, emergency rescue, news reporting, surveying and mapping, etc., they are also used to secretly take pictures and steal commercial secrets and residents' personal privacy. In addition, drone collisions, crashes, "illegal flights" and other problems also seriously threaten civil aviation flight safety and the safety of people's lives and property. Therefore, drones must be effectively controlled.

[0003] Effective detection and identification of drones is a prerequisite for drone control. Currently, drone detection and identification technologies mainly include radar detection, optoelectronic identification and tracking, sound monitoring, and radio monitoring. Among them, radio monitoring is an important detection and identification method in drone control because of its advantages of all-weather, all-terrain, rapid installation and movement, and ability to effectively identify drone flight control signals and image transmission signals.

[0004] Traditional radio detection and identification technology identifies and judges by monitoring and analyzing the spectral characteristics and technical features of drone flight control signals and image transmission signals in specific frequency bands. Sometimes it even takes over illegal drones by demodulating and decoding signals and cracking communication protocols, making them hover in designated safe areas.

[0005] However, when connected drones use 4G (Generation) / 5G public network signals for flight control and image transmission, the drone can be regarded as a 4G / 5G network terminal, and its communication method is consistent with other 4G / 5G network terminals such as mobile phones and webcams, making it difficult to distinguish them through spectrum characteristics.

[0006] That is, with the continuous development of communication technology, drones can use public mobile communication networks to establish remote control and remote sensing links by carrying 4G / 5G modules to become networked drones. However, for such networked drones, traditional radio monitoring technology is difficult to effectively detect and identify, and faces the risk of control failure. Summary of the invention

[0007] In order to solve the above-mentioned problems in the prior art, the present invention provides a method and system for identifying and positioning a networked unmanned aerial vehicle.

[0008] In a first aspect, an embodiment of the present application provides a method for identifying and locating a networked drone, comprising: obtaining IMSI information of a terminal device received by a detector in a target area; wherein a plurality of detectors are pre-deployed in the target area; the detector is configured to imitate an attached base station to send a broadcast message; when N of the detectors receive the IMSI information of the terminal device, the terminal device is located to obtain positioning information; after locating the terminal device for multiple consecutive times and obtaining different positioning information, the speed of the terminal device is calculated based on the different positioning information and the running trajectory of the terminal device is drawn; based on the positioning information, speed and running trajectory of the terminal device, it is determined whether the terminal device is a networked drone.

[0009] Optionally, the positioning information includes a location; the positioning of the terminal device includes: respectively obtaining the arrival time points at which the N detectors each receive the IMSI information of the terminal device; obtaining the absolute value of the time difference between the arrival time points at which any two detectors receive the IMSI information of the terminal device; obtaining the distance difference between the terminal device and different detectors based on the absolute value of the time difference between the arrival time points at which any two detectors receive the IMSI information of the terminal device; and making a hyperbola based on the distance difference and with the positions of the N detectors as the focus; wherein the intersection position of the hyperbolas is the position of the terminal device.

[0010] Optionally, the positioning information also includes altitude, and the altitude is obtained by the following steps, including: obtaining the three-dimensional coordinates of the N detectors; calculating the altitude of the terminal device based on the three-dimensional coordinates of the N detectors, the arrival time points when the N detectors each receive the IMSI information of the terminal device, and the propagation speed of electromagnetic waves.

[0011] Optionally, before acquiring the IMSI information of the terminal device received by the detector in the target area, the method further comprises: performing time synchronization on all the detectors in the target area.

[0012] Optionally, the positioning information includes a location; the positioning of the terminal device includes: obtaining the one-way communication time between the N detectors and the IMSI information of the terminal device respectively; obtaining the distance between the terminal device and each detector based on the one-way communication time between the N detectors and the IMSI information of the terminal device; drawing circles with the N detectors as the center and the distance from each detector to the terminal device as the radius; wherein the intersection area of ​​the N circles is the location of the terminal device.

[0013] Optionally, the detector is deployed as follows: within a range of D kilometers extending outward from the center of the target area, a detector is deployed every d meters; wherein the range of D is greater than or equal to 3, and the range of d is 100 to 300; the transmission power of each detector is K times that of the nearby established base station; wherein the range of K is 1.5 to 3.

[0014] Optionally, the positioning information includes position and altitude; the determining whether the terminal device is a networked drone based on the positioning information, speed and running trajectory of the terminal device includes: in response to the altitude of the terminal device being greater than a set altitude threshold, directly determining that the terminal device is a networked drone; or, in response to the speed of the terminal device being greater than a set speed threshold, directly determining that the terminal device is a networked drone; or, in response to the running trajectory of the terminal device being inconsistent with a map road, directly determining that the terminal device is a networked drone.

[0015] Optionally, the detector obtains the IMSI information of the terminal device through the following steps, including: the detector monitors the broadcast messages of nearby base stations; the detector imitates the nearby base stations and sends broadcast messages; wherein, when the terminal device detects that the transmission intensity of the detector is higher than that of the nearby base stations, it actively reports the IMSI information of the terminal device to the detector.

[0016] Optionally, after the detector obtains the IMSI information of the terminal device, the detector is further configured to send a tracking area update rejection request to the terminal device.

[0017] In a second aspect, the present application provides an identification and positioning system for a networked drone, comprising: an acquisition module, used to acquire the IMSI information of a terminal device received by a detector in a target area; wherein a plurality of detectors are pre-deployed in the target area, and each detector is close to a base station that has been built in the target area; the detector is configured to imitate an attached base station to send a broadcast message; a positioning module, used to locate the terminal device and acquire positioning information after N of the detectors receive the IMSI information of the terminal device; a calculation module, used to locate the terminal device for multiple consecutive times, and after acquiring different positioning information, calculate the speed of the terminal device based on different positioning information and draw the running trajectory of the terminal device; an identification module, used to determine whether the terminal device is a networked drone based on the positioning information, speed and running trajectory of the terminal device.

[0018] The beneficial effects of the present invention include: through in-depth analysis, it is found that the significant difference between networked drones and other networked terminals such as mobile phones is the movement trajectory. Other networked terminals such as mobile phones, webcams, and IoT devices are either fixed or move slowly, and basically do not move in the air, etc.; while drones generally move faster, have more straight movement trajectories, and have a higher lift-off altitude, which is significantly different from other networked devices. In this application, the networked drone can be detected and identified by judging the movement of the networked device.

[0019] In addition, there is another problem in the detection method, which is the problem of uniquely identifying the network terminal device; when the network terminal signal cannot be uniquely identified through traditional radio detection and identification technology, this application proposes to use the IMSI code of the networked terminal device as a method for uniquely identifying the networked terminal device. However, the IMSI code can only be obtained in large quantities through the operator's base station, and the drone control department cannot directly retrieve the operator's base station data. Therefore, this application proposes to obtain a unique identification code by setting up a networked terminal detector to communicate with the terminal device. The networked terminal detector has some of the functions of a base station and imitates the base station to work. The working principle is similar to that of a "fake base station". BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A flowchart of a method for identifying and locating a networked drone provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a positioning method provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of another positioning method provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a deployment method of a detector provided by an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of another deployment method of a detector provided by an embodiment of the present invention;

[0025] Figure 6 A module block diagram of an identification and positioning system for a networked drone provided by an embodiment of the present invention;

[0026] Figure 7 A module block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0028] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0029] The study found that when a networked drone uses 4G / 5G public network signals for flight control and image transmission, the drone can be regarded as a 4G / 5G network terminal, which has the same communication method as other 4G / 5G network terminals such as mobile phones and webcams, and is difficult to distinguish through spectrum characteristics. In other words, for such networked drones, traditional radio monitoring technology is difficult to effectively detect and identify, and faces the risk of control failure.

[0030] In view of the above problems, the present application proposes the following embodiments to solve the above technical problems.

[0031] See also Figure 1 , an embodiment of the present application provides a method for identifying and locating a networked drone, including: steps 101 to 104.

[0032] Step 101: Obtain the IMSI (International Mobile Subscriber Identity) information of the terminal device in the target area received by the detector.

[0033] Among them, a plurality of detectors are pre-deployed in the target area, and each detector is close to a base station that has been built in the target area; the detector is configured to imitate the nearby base station to send a broadcast message.

[0034] It should be noted that drones are generally strictly controlled in important protected places, major event sites, important scientific research sites, specific locations at airports, etc. These locations have strict security measures, and illegal drones cannot be brought in. They can only take off from outside the site and invade from the air. Therefore, in this application, a group of detectors with a mesh structure is deployed with a certain distance extending outward from a specific protection area as the center to identify and locate illegal drones invading from outside the site. The above-mentioned specific protection area can be used as the target area in step 101.

[0035] Step 102: After receiving the IMSI information of the terminal device, N detectors locate the terminal device and obtain the location information.

[0036] The above N is a positive integer, and in the embodiment of the present application, N is 3. Of course, N can also be 4, 5, etc., which is not limited in the present application.

[0037] Step 103: After positioning the terminal device for multiple consecutive times and obtaining different positioning information, the speed of the terminal device is calculated based on the different positioning information and the running track of the terminal device is drawn.

[0038] Step 104: Determine whether the terminal device is a networked drone based on the positioning information, speed, and running trajectory of the terminal device.

[0039] Traditional radio detection and identification technology identifies and judges by monitoring and analyzing the spectral characteristics and technical features of drone flight control signals and image transmission signals in specific frequency bands. Sometimes it even takes over illegal drones by demodulating and decoding signals and cracking communication protocols, making them hover in designated safe areas.

[0040] However, when the networked drone uses 4G / 5G public network signals for flight control and image transmission, the drone can be regarded as a 4G / 5G network terminal, which is consistent with the communication method of other 4G / 5G network terminals such as mobile phones and webcams, and it is difficult to distinguish them by spectrum characteristics. Therefore, this application changes the detection and identification thinking, and does not start from the spectrum characteristics, but analyzes the different characteristics of drones and ordinary mobile phones when they are public network terminals.

[0041] Through in-depth analysis, it is found that the significant difference between networked drones and other networked terminals such as mobile phones is the movement trajectory. Other networked terminals such as mobile phones, webcams, and IoT devices are either fixed or move slowly, and basically do not move in the air, etc.; while drones generally move faster, have more straight movement trajectories, and have higher lift-off altitudes, which are significantly different from other networked devices. In this application, networked drones can be detected and identified by judging the movement of networked devices.

[0042] In addition, there is another problem in the detection method, which is the problem of uniquely identifying the network terminal device; when the network terminal signal cannot be uniquely identified through traditional radio detection and identification technology, this application proposes to use the IMSI code of the networked terminal device as a method for uniquely identifying the networked terminal device. However, the IMSI code can only be obtained in large quantities through the operator's base station, and the drone control department cannot directly retrieve the operator's base station data. Therefore, this application proposes to obtain a unique identification code by setting up a networked terminal detector to communicate with the terminal device. The networked terminal detector has some of the functions of a base station and imitates the base station to work. The working principle is similar to that of a "fake base station".

[0043] The unique identification process of the terminal device is described in detail below.

[0044] Specifically, the detector obtains the IMSI information of the terminal device through the following steps, including: the detector monitors the broadcast messages of nearby base stations; the detector imitates nearby base stations and sends broadcast messages; when the terminal device detects that the transmission intensity of the detector is higher than that of the nearby base stations, it actively reports the IMSI information of the terminal device to the detector.

[0045] Specifically, current terminal devices generally transmit data through 4G or 5G networks. Taking a 4G networked terminal detector as an example, the following describes the working process of the networked terminal detector obtaining the IMSI identification code of the terminal device.

[0046] The process of the detector obtaining the IMSI identification code includes:

[0047] Step 1: Monitor normal base station information.

[0048] After the detector is turned on, it first receives the broadcast messages of nearby normal base stations, measures the signal coverage strength of each normal base station, and the corresponding cell physical layer identification number PCI (Physical Cell ID), so as to obtain relevant information of the main cell and surrounding neighboring cells at the location.

[0049] Step 2: Imitate a normal base station to send broadcast information.

[0050] Select the neighboring cell with weak signal strength as the target object, use the same PCI, and synthesize the broadcast information according to the public broadcast protocol, and increase the power for broadcasting. Because in the broadcast information broadcasting link, the base station and the terminal equipment cannot enable mutual authentication and other security mechanisms, and there is no information encryption and other protection. All these information are carried out in an open format, open process, and open plaintext code stream. Therefore, the detector pretends to be a base station in the neighboring cell in the access signaling link.

[0051] Step 3: Attract the terminal device to select the detector and obtain the IMSI information of the terminal device.

[0052] Because the strength of the signal transmitted in the area near the detector is not only much higher than the signal strength of the adjacent normal base station, but also higher than the signal strength of the main base station in the area. According to the working mechanism of the ground mobile communication terminal, the terminal device will actively initiate a cell switch in the above situation and switch to the cell with the current strongest signal strength to reside. The mobile phone that initiates the switch will detect the change of the tracking area code TAC (Tracking Area Code) during this process, and thus request the detector to update the tracking area. The detector immediately sends an identity request signaling (Identity Request) to the terminal, so the terminal device actively reports its IMSI to the detector in plain text. In this way, the detector will obtain the IMSI and other user identity-related information of all terminal devices that are attracted to enter and initiate cell reselection.

[0053] Optionally, after the detector obtains the IMSI information of the terminal device, the detector is further configured to send a tracking area update rejection request to the terminal device.

[0054] Specifically, the application embodiment also provides a fourth step: issuing an access rejection signaling to remove the terminal device.

[0055] After the terminal device's identity information is reported, according to the 3G / 4G / 5G protocol specifications, it is necessary to immediately start the two-way authentication between the terminal and the base station. However, the detector will be exposed in this step. To avoid this situation, after obtaining the terminal device's identity information, the detector will send a command TAU Reject (Tracking Area Update Reject) to reject the tracking area update request to the terminal device, excluding the terminal from the detector.

[0056] Although in 5G communication, in order to ensure security and resist replay attacks, the concepts of User Permanent Identifier (SUPI) and Hidden User Identifier (SUCI) are introduced to ensure that IMSI will not be exposed in the air interface, thereby ensuring the security of terminal and network authentication. However, this kind of user identity information privacy protection can only be achieved in the 5G independent networking (SA) architecture. Therefore, under the current network conditions where multiple network standards coexist, it is still effective to identify the identity information of 5G network communication terminals through detectors.

[0057] The following is an explanation of the terminal device positioning process:

[0058] Optionally, the positioning information includes the location; the above steps locate the terminal device, including: obtaining the arrival time points when N detectors receive the IMSI information of the terminal device respectively; obtaining the absolute value of the time difference when any two detectors receive the IMSI information of the terminal device; obtaining the distance difference between the terminal device and different detectors based on the absolute value of the time difference when any two detectors receive the IMSI information of the terminal device; combining the distance difference and making a hyperbola with the positions of the N detectors as the focus; wherein the intersection position of the hyperbolas is the position of the terminal device.

[0059] Combine the following Figure 2 , and N is 3 for illustration. The embodiment of the present application provides a positioning method based on Time Difference of Arrival (TDOA).

[0060] Specifically, three detectors are deployed to record the arrival time points t1, t2, and t3 of the IMSI signal sent by the terminal device respectively. Then, the absolute values ​​of the arrival time differences |t3-t1|, |t2-t1|, and |t3-t2| are calculated pairwise. By multiplying the time difference by the speed of light (the propagation speed of the signal), the distance difference between the terminal device and different detectors can be obtained. Then, a hyperbola is drawn with the position of the detector as the focus. The intersection of the hyperbolas is the positioning position of the terminal device.

[0061] It should be noted that in order not to affect the normal communication of the terminal device, the number of connections between the detector and the terminal needs to be reduced as much as possible. In this positioning method, only one detector is needed to attract the terminal device and guide the terminal device to send the IMSI identification code signal. Other nearby detectors can also receive the signal and record the reception time. In this way, there is no need for all detectors involved in positioning to connect to the terminal device once, thereby reducing the number of communication connections.

[0062] Optionally, the positioning information also includes altitude, and the altitude is obtained by the following steps, including: obtaining the three-dimensional coordinates of N detectors; combining the three-dimensional coordinates of the N detectors, the arrival time points of the IMSI information of the terminal device received by each of the N detectors, and the propagation speed of electromagnetic waves to calculate the altitude of the terminal device.

[0063] Continuing with N being 3, the calculation principle is as follows:

[0064] The three-dimensional coordinates of the three detectors A, B, and C are known, which are (X1, Y1, Z1), (X2, Y2, Z2), and (X3, Y3, Z3); the time points at which the terminal signal reaches the three detectors are known, which are t1, t2, and t3; the propagation speed of electromagnetic waves is known, which is c. Assume that the three-dimensional coordinates of the terminal device are (X, Y, Z), then:

[0065]

[0066] The above three equations can be used to calculate the terminal coordinates (X, Y, Z), where Z is the height information.

[0067] Optionally, before acquiring the IMSI information of the terminal device received by the detector in the target area, the method further comprises: performing time synchronization on all the detectors in the target area.

[0068] It should be noted that the above-mentioned time synchronization of all detectors can be achieved through Beidou and GPS (Global Positioning System) timing systems.

[0069] Optionally, the positioning information includes the location; the above steps locate the terminal device, including: obtaining the one-way communication time between N detectors and the IMSI information of the terminal device respectively; obtaining the distance between the terminal device and each detector based on the one-way communication time between the N detectors and the IMSI information of the terminal device; drawing circles with the N detectors as the center and the distance from each detector to the terminal device as the radius; wherein the intersection area of ​​the N circles is the location of the terminal device.

[0070] That is, the embodiment of the present application also provides a positioning method based on time of arrival (TOA). Figure 3 , the time interval T recorded by the detector during two-way communication with the terminal device is subtracted from the necessary response time T1 of the terminal device to obtain the one-way communication time T2. The signal propagation speed is the speed of light, so the distance from the detector to the terminal device can be calculated. The terminal device can be located by deploying more than three detectors with known and fixed positions. That is, draw a circle with the positions of the three detectors as the center and the distance from the detector to the terminal device as the radius. The intersection area of ​​the three circles is the terminal device positioning area, such as Figure 3 As shown in the figure, the more detectors are involved in positioning, the higher the positioning accuracy.

[0071] The following is an explanation of how to deploy the detector.

[0072] Optionally, the detectors are deployed as follows: within a range of D kilometers extending outward from the center of the target area, a detector is deployed every d meters; wherein the range of D is greater than or equal to 3, and the range of d is 100 to 300; the transmission power of each detector is K times that of the nearby established base station; wherein the range of K is 1.5 to 3.

[0073] Generally, the flight speed of a drone is about 8m / s to 30m / s, the coverage radius of a 4G base station is about 1-3km, and the coverage radius of a 5G base station is about 100-300m. Therefore, a detector can be deployed every 100-300m, extending 3km outward from a specific location, to form a detector network to identify and locate drones. Every time a drone flies over the coverage area of ​​a detector, it will be sucked in and located once.

[0074] Taking into account that the image transmission signal of networked drones has a certain delay, it is inconvenient to control the flight posture and route of the drone if it flies too fast. At a speed of 30 meters per second, the detector can locate the drone once every 3.3 seconds if it is deployed at an interval of 100 meters, and once every 10 seconds if it is deployed at an interval of 300 meters.

[0075] In this way, after two positionings, the movement speed of the networked terminal can be obtained, so as to screen out the suspicious terminals with too fast speed. After 1 to 3 positionings, the movement trajectory of the suspicious terminal can be drawn. Combined with the altitude information and map information, the terminals in high-speed moving vehicles can be excluded, and the remaining suspicious terminals can be determined as drones. In this way, the networked drone can be identified and tracked and located 2 kilometers away from a specific place. In addition, the deployment range and interval distance of the detector can be adjusted according to actual needs.

[0076] For details, please refer to Figure 4 The detectors are deployed at fixed intervals of 300 meters. Figure 4 The black area in the center is the key protection area (i.e. the target area). An area of ​​3 kilometers extending from the key protection area in all directions serves as the networked drone intrusion detection area, with a detector deployed every 300 meters.

[0077] In addition, the detectors can also be deployed in a manner close to normal base stations. Figure 5 As shown, Figure 5 The black area in the center is the key protection area (i.e. the target area). The area extending 3 kilometers in all directions from the key area serves as the networked drone intrusion detection area. The black dot “·” in the figure is the normal base station location, and the detector can be deployed near the normal base station.

[0078] Optionally, the positioning information includes position and altitude; the above steps determine whether the terminal device is a networked drone based on the positioning information, speed and running trajectory of the terminal device, including: in response to the height of the terminal device being greater than a set height threshold, directly determining that the terminal device is a networked drone; or, in response to the speed of the terminal device being greater than a set speed threshold, directly determining that the terminal device is a networked drone, or, in response to the running trajectory of the terminal device being inconsistent with the map road, directly determining that the terminal device is a networked drone.

[0079] That is, the following situations can be directly identified as drones:

[0080] (1) The maximum building height in the intrusion detection area is H meters (set height threshold). When the terminal height is greater than H meters, it can be judged as a drone.

[0081] (2) When the maximum moving speed of an object such as a ground vehicle in the intrusion detection area is V m / s (set speed threshold), if the terminal speed is greater than V m / s, it can be judged as a drone.

[0082] (3) When the running trajectory of the terminal device is inconsistent with the map road, the terminal device is directly determined to be a networked drone. If the movement trajectory directly crosses obstacles such as water areas, fences, or prohibited areas, it can be directly determined to be a drone.

[0083] In other embodiments, after the terminal is positioned, it can be identified based on the height, speed, motion trajectory and geographic information of the terminal device.

[0084] Terminal height: Generally, the height of handheld terminal devices does not exceed 2 meters. Considering that IoT terminals may be located high up in buildings and drones may fly at low altitudes, terminals with a height greater than 10 meters can be set as suspicious terminals.

[0085] Terminal speed: The speed of a handheld terminal is generally 1.5 m / s based on the human walking speed. Most IoT terminals are stationary. Considering that the terminal may be in a high-speed moving object such as a vehicle, set the terminal with a speed greater than 5 m / s (set speed threshold) as a suspicious terminal.

[0086] Movement trajectory: Considering that drones move relatively freely and generally do not travel along roads in order to hide their own flight, when the terminal's movement range is large, greater than 1 km, and the movement trajectory is inconsistent with the road, it can be determined to be a drone.

[0087] When the terminal height and movement speed are greater than the set value, it will be marked as a suspicious terminal for special attention. When the movement trajectory is inconsistent with the road, it can be marked as a drone for alarm.

[0088] Finally, a complete description of the identification and positioning method of the networked drone provided in the embodiment of the present application is given, including:

[0089] Step 1: Determine a specific protected area and extend D kilometers around the protected area as the detector deployment area, where D ≥ 3.

[0090] Step 2: Deploy a detector at a distance of d meters in the deployment area, 100≤d≤300. You can also deploy the detector close to the normal base station. After the detector is started, it will be strictly synchronized with the Beidou or GPS.

[0091] Step 3: The detector obtains the information of normal base stations nearby and pretends to be a normal base station nearby to work. The transmission power of the detector is greater than that of a normal base station. According to actual needs, it can be set to 1.5 times, 2 times, 3 times, etc. of the transmission power of a normal base station.

[0092] Step 4: When a new terminal enters the coverage area of ​​the detector, the detector absorbs the terminal device and tricks the terminal into transmitting IMSI information; then the terminal is removed, allowing it to connect to the Internet normally and directly enter the coverage area of ​​the next detector.

[0093] Step 5: After receiving the IMSI information, multiple detectors will locate the target based on the arrival time difference to obtain the location and altitude information.

[0094] Step 6: Record the terminal IMSI and the corresponding time and location information.

[0095] Step 7: Calculate the speed, draw the trajectory, etc. based on the historical location of the newly positioned terminal device.

[0096] Step 8: When the new terminal device enters the coverage area of ​​the next detector, loop through steps 4 to 7 and proceed to step 9 for judgment.

[0097] Step 9: Identify and locate the aerial drone terminal through the speed, altitude, trajectory and geographic information of the terminal device.

[0098] Step 10: Issue suspicious terminal warning and drone terminal alarm.

[0099] See also Figure 6 Based on the same inventive concept, the present application provides an identification and positioning system 600 for a networked drone, comprising: an acquisition module 601, used to acquire the IMSI information of a terminal device received by a detector in a target area; wherein a plurality of detectors are pre-deployed in the target area; the detector is configured to imitate an attached base station to send a broadcast message; a positioning module 602, used to locate the terminal device and acquire positioning information after N of the detectors receive the IMSI information of the terminal device; a calculation module 603, used to locate the terminal device for multiple consecutive times and acquire different positioning information, and then calculate the speed of the terminal device based on the different positioning information and draw the running trajectory of the terminal device; an identification module 604, used to determine whether the terminal device is a networked drone based on the positioning information, speed and running trajectory of the terminal device.

[0100] See also Figure 7 Based on the same inventive concept, the present application embodiment provides a module frame of an electronic device 700 that applies the above method. The electronic device 700 includes: at least one processor 701 ( Figure 7 Only one is shown in the figure), a memory 702, a computer program 703 stored in the memory 702 and executable on at least one processor 701, and when the processor 701 executes the computer program 703, the steps of the method in any of the foregoing embodiments are implemented.

[0101] The electronic device 700 may be a server, a personal computer, a notebook computer, etc.

[0102] Those skilled in the art will understand that Figure 7 The electronic device 700 is merely an example and does not constitute a limitation on the electronic device 700 , and may include more or less components than those shown in the figure, or may combine certain components, or may include different components.

[0103] The processor 701 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0104] In some embodiments, the memory 702 may be an internal storage unit of the electronic device 700, such as a hard disk or memory of the electronic device 700. In other embodiments, the memory 702 may also be an external storage device of the electronic device 700, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 400. Further, the memory 702 may also include both an internal storage unit of the electronic device 700 and an external storage device.

[0105] It should be noted that the above-mentioned systems, devices, etc. are based on the same concept as the method embodiments of the present application. The modules designed for the systems, the steps performed by the devices, and the technical effects brought about can all be found in the method embodiment section and will not be repeated here.

[0106] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0107] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0108] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0109] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0110] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0111] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0112] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0113] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for identifying and locating a networked drone, characterized in that: include: Acquire the IMSI information of the terminal device received by the detector in the target area; wherein a plurality of detectors are pre-deployed in the target area; the detector is configured to imitate the base station of the attachment to send a broadcast message; When N of the detectors receive the IMSI information of the terminal device, the terminal device is located to obtain the location information; After positioning the terminal device for multiple times in a row and obtaining different positioning information, the speed of the terminal device is calculated based on the different positioning information and the running track of the terminal device is drawn; Based on the positioning information, speed and running trajectory of the terminal device, determine whether the terminal device is a networked drone.

2. The identification and positioning method of a networked drone according to claim 1, characterized in that: The positioning information includes a location; and the positioning of the terminal device includes: Respectively obtain the arrival time points at which the N detectors each receive the IMSI information of the terminal device; Obtaining the absolute value of the time difference between the arrival time points of the IMSI information of the terminal device received by any two detectors; Based on the absolute value of the time difference between the arrival time points of the IMSI information of the terminal device received by any two detectors, obtaining the distance difference between the terminal device and different detectors; A hyperbola is constructed by combining the distance difference and taking the positions of the N detectors as the focus; wherein the intersection position of the hyperbola is the position of the terminal device.

3. The identification and positioning method of a networked drone according to claim 2, characterized in that: The positioning information also includes altitude, and the altitude is obtained by the following steps, including: Obtaining the three-dimensional coordinates of the N detectors; The height of the terminal device is calculated by combining the three-dimensional coordinates of the N detectors, the arrival time points at which the N detectors each receive the IMSI information of the terminal device, and the propagation speed of electromagnetic waves.

4. The identification and positioning method of a networked drone according to claim 2, characterized in that: Before acquiring the IMSI information of the terminal device received by the detector in the target area, the method further includes: All detectors in the target area are time synchronized.

5. The identification and positioning method of a networked UAV according to claim 1, characterized in that: The positioning information includes a location; and the positioning of the terminal device includes: Obtaining the one-way communication time of the N detectors and the IMSI information of the terminal device respectively; Based on the one-way communication time between the N detectors and the IMSI information of the terminal device, obtaining the distance between the terminal device and each detector; Circles are drawn with the N detectors as centers and the distances from each detector to the terminal device as radii; wherein the intersection area of ​​the N circles is the location of the terminal device.

6. The identification and positioning method of a networked drone according to claim 1, characterized in that: The deployment method of the detector is: within a range of D kilometers extending outward from the center of the target area, a detector is deployed every d meters; Wherein, the range of D is greater than or equal to 3, and the range of d is 100 to 300; The transmission power of each of the detectors is K times that of the attached already built base station; Among them, the range of K is 1.5~3.

7. The identification and positioning method of a networked UAV according to claim 1, characterized in that: The positioning information includes a position and an altitude; and determining whether the terminal device is a networked drone based on the positioning information, speed, and running trajectory of the terminal device includes: In response to the height of the terminal device being greater than a set height threshold, directly determining that the terminal device is a networked drone; or, In response to the speed of the terminal device being greater than a set speed threshold, directly determining that the terminal device is a network-connected drone, or, In response to the fact that the running trajectory of the terminal device is inconsistent with the map road, the terminal device is directly determined to be a networked drone.

8. The identification and positioning method of a networked UAV according to claim 1, characterized in that: The detector obtains the IMSI information of the terminal device through the following steps, including: The detector monitors broadcast messages from nearby base stations; The detector imitates the nearby base station and sends a broadcast message; wherein, when the terminal device detects that the transmission intensity of the detector is higher than that of the nearby base station, it actively reports the IMSI information of the terminal device to the detector.

9. The identification and positioning method of a networked UAV according to claim 8, characterized in that: After the detector obtains the IMSI information of the terminal device, the detector is further used to send a tracking area update rejection request to the terminal device.

10. A networked drone identification and positioning system, characterized in that: include: An acquisition module is used to acquire the IMSI information of the terminal device received by the detector in the target area; wherein a plurality of detectors are pre-deployed in the target area; and the detector is configured to imitate the base station of the attachment to send a broadcast message; A positioning module, used for locating the terminal device and obtaining positioning information after N detectors receive the IMSI information of the terminal device; A calculation module, configured to calculate the speed of the terminal device and draw a running track of the terminal device based on the different positioning information after positioning the terminal device for multiple consecutive times and obtaining different positioning information; The identification module is used to determine whether the terminal device is a networked drone based on the positioning information, speed and running trajectory of the terminal device.

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