Data transmission method of satellite navigation system

Abstract

The invention relates to a data transmission method of a satellite navigation system, which comprises the following steps: a data center receives target data sent by a base station, and the data center comprises a mixed data service subscription interface; the user terminal is provided with mixed data subscription software, through a trigger mechanism integrated in the user terminal, a user can set acquisition conditions of high-precision data according to needs, send a high-precision data triggering request to the data center, and perform identity verification; after the authentication is passed, the authorized high-precision data is encrypted to generate an encryption key, and an authentication token is generated; and the user terminal decrypts the high-precision data by using the key in the transmitted security data packet. Through a mixed data service subscription mechanism, a user can flexibly adjust data precision according to actual requirements, a real-time verification and authorization process ensures the security of data transmission, data leakage and tampering are prevented, and data encryption and transmission measures further improve the security of data transmission.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a data transmission method for a satellite navigation system. Background Art

[0002] BeiDou Navigation Satellite System, as a global satellite navigation system independently developed and operated by my country, provides multifunctional services including positioning, navigation and time synchronization for military and civilian fields. The system, combined with the continuously operating ground base stations, can provide users with positioning information with sub-meter, centimeter and even millimeter accuracy. With the globalization of BeiDou system, its high-precision data plays a vital role in many civilian fields, such as precise vehicle navigation in intelligent transportation and precise seeding by drones in spring agricultural operations.

[0003] For example, Chinese patent application number CN202010591005.1 discloses a Beidou satellite navigation data transmission method and system, which is applied to a data center and includes: receiving target data sent by a base station; determining the target security level corresponding to the target user terminal; using a target security verification scheme corresponding to the target security level to send the target data to the target user terminal; wherein the target security verification scheme includes any one or any combination of data encryption, data integrity verification, and identity authentication. The present disclosure divides different user terminals into security levels and uses security verification schemes of corresponding levels for data transmission, which can fully meet the security requirements of different users in the Beidou satellite navigation data transmission process, is conducive to ensuring the integrity and confidentiality of data, and can effectively prevent cross-security level data viewing, greatly improving the transmission security of Beidou satellite navigation data.

[0004] However, current technology still lacks sufficient security protection measures for data transmission in the Beidou satellite navigation system in the civilian field, resulting in relatively weak security. In fact, there is also a demand for security protection of data transmission in the civilian field, especially when it comes to the transmission of high-precision sensitive data. For example, in some key application scenarios, the data of the base station may be closely related to important landmark buildings or locations, so this type of data has extremely high security protection requirements. Summary of the invention

[0005] In view of the technical problems existing in the prior art, the present invention provides a data transmission method for a satellite navigation system and a hybrid data service subscription mechanism. Users can flexibly adjust data accuracy according to actual needs, avoiding unnecessary high-precision data usage costs. Real-time verification and authorization processes ensure the security of data transmission and prevent data leakage and tampering. Data encryption and transmission measures further enhance the security of data transmission and ensure confidentiality and integrity during data transmission.

[0006] The technical solution of the present invention to solve the above technical problem is as follows: A data transmission method for a satellite navigation system, comprising:

[0007] S101, a data center receives target data sent by a reference station, the data center comprising a hybrid data service subscription interface;

[0008] S102, the user terminal is provided with hybrid data subscription software, the hybrid data subscription software matches the hybrid data service subscription interface of the data center, and the transmission of high-precision data is authorized through a trigger mechanism. Through the trigger mechanism integrated in the user terminal, the user can set the acquisition conditions of high-precision data as needed, send the trigger high-precision data request to the data center, and process the transmitted high-precision data request through the real-time verification interface in the data center, and perform identity authentication;

[0009] S103, based on step S102, after identity authentication is passed, the transmission of high-precision data is authorized according to the user's hybrid data subscription rights and trigger conditions, the authorized high-precision data is encrypted to generate an encryption key, and an authentication token is generated at the same time;

[0010] S104, the user terminal uses the key in the transmitted security data packet to decrypt the high-precision data, and integrates the encrypted high-precision data with the existing low-precision data.

[0011] Preferably, the steps of encrypting the authorized high-precision data to generate an encryption key are as follows: the data center generates a key, uses a cipher block chaining mode to encrypt the high-precision data, the encryption process divides the data into blocks of a fixed size, encrypts each block while performing an XOR operation on the previous block and the current block, and then encrypts the result.

[0012] Preferably, the authentication token contains the user's identity information and authority level, and when the user terminal wants to access high-precision data, the data center identifies the validity of the authentication token.

[0013] Preferably, the integration processing includes data fusion, position comparison and path optimization. The data fusion refers to fusing high-precision data with low-precision data. The position comparison uses linear regression to calibrate and verify the low-precision data. Linear regression is used for calibration. The linear regression formula is Y=aX+b, where X is a low-precision value, Y is a predicted value of high-precision data, a and b are model parameters. The low-precision data is substituted into the formula to calculate the corresponding high-precision prediction value. The high-precision prediction value is the calibrated low-precision data. The high-precision data is used as a benchmark value to compare the high-precision data with the high-precision data prediction value.

[0014] Preferably, based on the data center in step S101, an airspace identification module and a data processing module are designed in the data center, and the drone control software is set in the user terminal; the airspace identification module receives the location information of the drone in real time, and processes the received location information through the data processing module, so that the unit of the real-time received location information is the same as the unit of the location information of the airspace rules preset in the airspace identification module, and compares the received location information with the airspace rules preset in the airspace identification module, and compares the real-time position of the drone with the fixed position of the preset airspace rules. If the real-time position is within the range of the airspace rules, it is judged that the drone is in a specific airspace. Otherwise, if the real-time position is not within the range of the airspace rules.

[0015] Preferably, the sensitive location information of the UAV flight is leaked when being transmitted to the user terminal.

[0016] Preferably, information on sensitive locations is collected, and the collected sensitive locations are imported into geographic information software for marking. The sensitive location data is marked by creating a layer. If the data contains coordinates, the coordinates are directly created as points or surfaces to mark the sensitive locations. A surface refers to a location with a boundary. For data that does not contain coordinates but contains addresses or place names, the addresses and place names are converted into geographic coordinates. By entering the address and place name, the geographic database is matched with the coordinates.

[0017] Preferably, the user terminal sets up a flight airspace in the system, and divides the flight airspace into three levels, an inner trigger identification area, a middle data cache area, and an outer originally set airspace boundary. The trigger identification area is the area closest to the sensitive position, and the data cache area is located between the trigger identification area and the originally set airspace boundary. The data cache area is used to temporarily store data.

[0018] Preferably, a flight gallery is preset in the flight airspace, and the flight gallery is a set of spatial data. Based on the flight gallery and the predicted flight path of the drone, the system pre-reviews and caches low-level spatial data.

[0019] Preferably, the flight airspace has a plurality of flight corridor entrances and exits preset, each of which is designed around the boundary of the airspace, and the airspace is connected to the flight corridor through the flight corridor entrances and exits.

[0020] The beneficial effects of the present invention are:

[0021] Through the hybrid data service subscription mechanism, users can flexibly adjust data accuracy according to actual needs, avoiding unnecessary high-precision data usage costs. Secondly, the real-time verification and authorization process ensures the security of data transmission and prevents data leakage and tampering. In addition, data encryption and transmission measures further enhance the security of data transmission and ensure confidentiality and integrity during data transmission. Finally, the real-time feedback and monitoring system improves user experience, ensures stable system operation, and promptly detects and handles potential problems.

[0022] By setting up a flight corridor, combined with low-level data pre-review, dynamic path planning and safety verification solutions, the UAV can fly safely and efficiently during continuous operations. The design of the flight corridor effectively reduces the risk of data transmission delay and interruption, and prevents the leakage of sensitive information. At the same time, through dynamic path planning and automatic switching of safety verification levels, the security of data transmission and flight efficiency are further improved. The overall technical solution ensures the safe operation capability of the UAV in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of a data transmission method for a satellite navigation system according to the present invention;

[0024] Figure 2 The present invention is a flowchart of a data transmission method for a satellite navigation system. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0026] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0027] In the description of the present application, the term "for example" is used to mean "used as an example, illustration or description". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid unnecessary details to obscure the description of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.

[0028] Example 1

[0029] Figure 1 1 is a flow chart of a data transmission method of a satellite navigation system according to an embodiment of the present invention, comprising the following steps:

[0030] S101, a data center receives target data sent by a reference station, the data center comprising a hybrid data service subscription interface;

[0031] The data center includes a high-performance computing cluster, a large-capacity storage system and a high-performance network architecture. The high-performance computing cluster can quickly process low-precision or high-precision data, and the high-performance network architecture can ensure that data can be transmitted quickly; the hybrid data service subscription interface enables users to subscribe to daily low-precision data services and apply for permission to obtain high-precision data.

[0032] S102, the user terminal is provided with hybrid data subscription software, the hybrid data subscription software matches the hybrid data service subscription interface of the data center, and authorizes the transmission of high-precision data through a trigger mechanism.

[0033] Among them, the user completes the registration on the data center, fills in the user name, password and contact information, etc. The user logs in with the user name and password and can browse various types of data in the data center. The various types of data include a list of low-precision data services and an introduction to and acquisition conditions of high-precision data services. Through the trigger mechanism integrated in the user terminal, the user can set the acquisition conditions of high-precision data as needed. The acquisition conditions of high-precision data are: when the vehicle enters the city center or an important transportation hub, a high-precision data request is automatically triggered; when encountering bad weather or performing emergency tasks, a high-precision data request is automatically triggered; when there is an obstacle in front of the vehicle, a high-precision data request is automatically triggered; the triggered high-precision data request is sent to the data center, and the transmitted high-precision data request is processed through the real-time verification interface in the data center, and identity verification is performed.

[0034] S103, based on step S102, after identity authentication is passed, the transmission of high-precision data is authorized according to the user's hybrid data subscription permissions and trigger conditions, the authorized high-precision data is encrypted to generate an encryption key, and an authentication token is generated at the same time.

[0035] To encrypt high-precision data, the data center generates a 256-bit AES key and uses the cipher block chaining mode to encrypt the high-precision data. The encryption process divides the data into blocks of fixed size. Each block is then encrypted and the previous block (or initialization vector) is XORed with the current block, and then the result is encrypted to enhance the security of encryption. The encrypted data becomes a string of byte sequences, and the encrypted data, the identifier of the encryption key and the initialization vector are packaged into a secure data packet. The secure data packet is transmitted from the data center to the user terminal via the HTTPS security protocol, and the transmission process is monitored in real time to ensure integrity and reliability. The authentication token contains the user's identity information and permission level. When the user terminal wants to access high-precision data, the data center identifies the validity of the authentication token and determines whether the user has access based on the permission information in the token, thereby reducing repeated identity authentication and data encryption and decryption times and improving data transmission efficiency.

[0036] S104, the user terminal uses the key in the transmitted security data packet to decrypt the high-precision data, and integrates the encrypted high-precision data with the existing low-precision data.

[0037] The integration processing includes data fusion, position comparison and path optimization, etc. The data fusion refers to the fusion of high-precision data and low-precision data, which can improve positioning accuracy or fill data gaps; the position comparison uses linear regression to calibrate and verify the low-precision data, and uses linear regression for calibration. The linear regression formula Y=aX+b, wherein X is a low-precision value, Y is a predicted value of high-precision data, a and b are model parameters, and the low-precision data is substituted into the formula to calculate the corresponding high-precision predicted value. The high-precision predicted value is the calibrated low-precision data, and the high-precision data is used as a reference value. The high-precision data is compared with the high-precision data predicted value, and the calibration parameters obtained according to the error obtained by the comparison are applied to the low-precision data to adjust the low-precision value to make the low-precision value more accurate.

[0038] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0039] Through the hybrid data service subscription mechanism, users can flexibly adjust data accuracy according to actual needs, avoiding unnecessary high-precision data usage costs. Secondly, the real-time verification and authorization process ensures the security of data transmission and prevents data leakage and tampering. In addition, data encryption and transmission measures further enhance the security of data transmission and ensure confidentiality and integrity during data transmission.

[0040] Example 2

[0041] Based on the high-precision data demand triggered by entering the city center in Example 1, there is no specific scope. The triggering conditions in Example 1 are not precise enough and cannot be used in scenarios that require precise locations, such as urban emergency rescue and medical supplies distribution. This example optimizes the hybrid data service subscription process so that the drone is triggered based on location to achieve real-time transmission of high-precision data and dynamic authorization.

[0042] like Figure 2 As shown, based on the data center in step S101, an airspace identification module and a data processing module are designed in the data center, and a drone control software is set in the user terminal; the airspace identification module receives the location information of the drone in real time, and the location information includes GPS coordinates, altitude, speed and direction. The received location information is processed by the data processing module so that the unit of the real-time received location information is the same as the unit of the location information of the airspace rules preset in the airspace identification module, so as to facilitate comparison between the two. According to the comparison between the received location information and the airspace rules preset in the airspace identification module, the real-time location of the drone is compared with the fixed position of the preset airspace rules. If the real-time location is within the range of the airspace rules, it is determined that the drone is in a specific airspace. On the contrary, if the real-time location is not within the scope of the airspace rules, it is determined that the drone is not in a specific airspace. The preset airspace rules include geographical locations such as no-fly zones, restricted altitude zones, and specific routes. If the drone enters a specific airspace, the data center outputs a violation warning message and automatically triggers a request for high-precision data; the hybrid service subscription interface is optimized so that the drone control software in the user terminal can automatically switch to different subscription modes according to the current location of the drone. When flying in open areas, the drone may only need data support from the basic flight mode to maintain a stable flight state; in densely populated urban areas or mountainous areas, the drone may need to switch to a high-precision positioning mode or an obstacle avoidance mode. Switching between different subscription modes enables the drone to fly more safely and efficiently.

[0043] By generating an airspace token, which includes detailed information and authorization scope of the drone, the data is encrypted, and the encrypted data is transmitted to the user terminal, which decrypts the data. The airspace token, the encryption data and the decryption data processes are explained in Example 1.

[0044] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0045] Through the preset airspace and automatic trigger mechanism, dynamic adjustment of data transmission accuracy is achieved, without the need for manual operation by the user, thus improving work efficiency. Secondly, the drone's unique location verification and airspace token authorization mechanism further enhances the security of data transmission.

[0046] Example 3

[0047] Based on Example 2, the UAV may cause information leakage at sensitive locations during rapid flight. This example improves the security of data transmission during the flight of the UAV through airspace identification and flight simulation.

[0048] Collect information on sensitive locations, import the collected sensitive locations into GIS software for marking, and mark the sensitive location data by creating layers. If the data contains coordinates, directly create the coordinates as points or surfaces to mark the sensitive locations. Surfaces refer to locations with boundaries. For data that does not contain coordinates but contains addresses or place names, use the geocoding function of GIS software. Geocoding converts addresses and place names into geographic coordinates. By entering the address and place name, GIS software searches the geographic database, matches the searched geographic database with the coordinates, and marks the matched coordinates in the layer. Add attribute information to each marked sensitive location, assign different colors to different types of sensitive locations, and be able to clearly distinguish different sensitive locations. Export the marked sensitive locations as image files.

[0049] The user terminal sets the flight airspace in the system. If there are sensitive locations around the flight airspace, the flight airspace is divided into three levels, the inner trigger identification area, the middle data cache area and the outer original set airspace boundary. The trigger identification area is the area closest to the sensitive location. When the UAV enters the trigger identification area, the wind speed and wind direction data are obtained through the wind speed sensor. The collected data contains time series information. The flight direction, speed and climb rate of the UAV are collected. The collected wind direction, wind speed data and UAV data are integrated into the data set. A time-varying wind field model is established using historical meteorological data, fluid dynamics simulation and real-time wind speed. A flight dynamics model is established based on the physical characteristics and flight principles of the UAV. Based on the created layer, the terrain and obstacles in the layer are input into the Dijkstra algorithm. The take-off point, flight altitude and speed of the UAV are calculated. The data is input into the Dijkstra algorithm, and the predicted path from the take-off point to the landing point is searched through the Dijkstra algorithm. If the drone flies into a sensitive area, the system will issue a warning in time and start the avoidance mechanism to adjust the flight altitude to ensure that the drone will not affect the sensitive area. The data cache area is located between the trigger identification area and the original set airspace boundary. When the drone is in the data cache area, the data is temporarily stored so that the cached data can meet the flight navigation requirements before the drone leaves the set airspace, preventing the leakage of sensitive location information due to data transmission during the flight of the drone. If the drone's flight path does not pass through a sensitive area, high-precision data is transmitted according to the normal process. If the drone completely flies out of the set airspace, real-time data transmission is resumed, and the cached data is deleted or encrypted to ensure the continuity and security of data transmission.

[0050] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0051] Through measures such as airspace identification, flight simulation, data caching and transmission control, the problem of sensitive location information leakage caused by data transmission during the rapid flight of drones is effectively solved. Through preset sensitive area identification, flight simulation prediction and dynamic data transmission control strategy, it is ensured that the drone can meet the navigation and positioning requirements during the flight, and strictly abide by data security regulations to prevent the accidental leakage of sensitive information. At the same time, the design of the data caching mechanism also provides a flexible processing solution for data transmission when the drone is flying in sensitive areas, thereby improving the security of the entire system.

[0052] Example 4

[0053] During the transportation process, drones may operate continuously. When a drone flies from one airspace to the next, if the data update and transmission rate is lower than the flight rate of the drone, when the drone enters the new airspace, the data of the previous airspace has not been completely sent to the terminal. This delay leads to insufficient supervision of the drone in the new airspace, which can easily cause high-precision data leakage in sensitive locations.

[0054] A flight gallery is preset, and the flight gallery is a spatial data set. The flight gallery is a spatial data set extending 3-8 meters outward around the flight point of the drone and the flight trajectory within a preset time period. The flight gallery determines the flight path of the drone according to the take-off point and target point of the drone. A 10S time period is preset. Within 10S, the drone flies along the preset path, with the flight point as the center, around the preset path, and sets a 3-8 meter range at each point within the preset 10S time to form a continuous flight gallery. The flight gallery can cover the possible flight positions of the drone within the preset time period. The flight gallery provides a clear spatial boundary for the drone in continuous flight, which helps to prevent the leakage of sensitive information during flight. Based on the flight gallery and the predicted flight path of the drone, the system pre-reviews and caches low-level spatial data. The caching of low-level data can reduce the risk caused by data loading delays during the flight of the drone. The flight path of the drone can be adjusted according to the retrieved low-level data and the preset path, so that the drone can smoothly avoid all obstacles and sensitive locations.

[0055] An entrance and exit are set at the junction of the flight corridor and the set airspace, so that the drone has passed through the entrance of the flight corridor before entering the set airspace, and after completing the task of the current flight corridor, it enters the next flight corridor through the exit.

[0056] The entrance position is set according to the location of the flight gallery so that the drone can accurately enter the flight gallery. The exit position of the flight gallery is limited when designing the airspace, and a cache is set for the flight gallery data so that the drone can fly out smoothly when completing the mission. The airspace and the flight gallery are connected by designing the entrance and exit, which can more effectively control the movement of drones between airspaces, reduce safety risks caused by sudden changes in position, ensure that the drone always flies according to the preset path and rules during the flight, and improve the overall flight safety.

[0057] Safety verification nodes are set up at the entrance and exit of the flight corridor and at the junction of different levels of airspace to ensure that the drone can perform necessary safety verification when passing through these nodes, so that the drone can automatically switch to the corresponding safety verification level when entering flight corridors of different levels or set airspace. Drones can cross airspaces of different safety levels more safely and efficiently during continuous operation. The introduction of flight corridors provides drones with a dynamic, local spatial reference, allowing drones to pre-review and cache low-level data before entering high-security airspace, thereby reducing the risk of high-precision data leakage caused by data delays. At the same time, by setting clear imports and exports, optimizing flight paths and integrating safety verification solutions, the data security of drones during flight is further improved.

[0058] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0059] Through the advance data review and caching mechanism of the flight corridor, drones can obtain necessary low-level data before entering high-security airspace, reducing delays in data acquisition and processing and improving the real-time nature of data transmission. The flight corridor enables drones to adjust their paths in a timely manner according to actual flight conditions, avoid sensitive areas, and ensure the security of data transmission and flight continuity.

[0060] Example 5

[0061] Based on Example 4, when the drone is performing a delivery mission, the path will be affected by weather and wind speed. A multi-exit flight corridor is designed so that drones can safely enter the set airspace from different directions. The multiple entrance and exit designs can support a large number of drones working simultaneously in the same airspace.

[0062] Several flight corridor entrances and exits are preset in the set airspace. Each entrance and exit is designed around the boundary of the airspace, so that drones can safely enter the designed airspace from different directions. Each entrance and exit is assigned a logo using a combination of numbers and letters, which drones can identify and select. 4-12 flight corridor entrances and exits are preset to improve the flexibility of drones entering and exiting the set airspace and reduce congestion and delays caused by a single entrance and exit. On the basis of the three layers of airspace, namely the trigger identification area, the data cache area and the original set airspace boundary, the drone enters the innermost trigger identification area through the flight corridor. Similarly, the drone leaves the innermost trigger identification area through the flight corridor.

[0063] The airspace is layered and corresponding cache data is preset for each layer. The trigger identification area contains the data with the highest precision, which is used for precise navigation and positioning of the UAV. The data cache area contains medium-precision data, which is used to support large-scale navigation of the UAV. The originally set airspace boundary contains low-precision data, which is mainly used for preliminary navigation and positioning of the UAV before entering a specific area.

[0064] In some embodiments, drones are used to deliver packages in a city. Eight flight corridor entrances and exits are distributed on the edge of the city. The entrances and exits of the flight corridors are set on the boundaries of the airspace, so that the drone can enter the flight corridor from the four directions of southeast, northwest, and diagonally in all directions, thereby improving the flexibility of drone flight and avoiding congestion and delays caused by a single exit. The flight corridor also serves as a channel connecting the trigger identification area, the data cache area, and the original set airspace boundary. The drone takes off from the logistics center, first enters the original set airspace boundary through the flight corridor entrance, and then flies into the data cache area and the trigger identification area along the flight corridor. After completing the delivery task, the drone returns along the same flight corridor. When the drone is delivering the package, if the system detects that strong winds or thunderstorms are about to occur on a certain path, it will immediately re-plan a path for the drone to avoid bad weather, and select the optimal flight corridor entrance and exit for entry and exit, so that the drone can complete the delivery efficiently and safely in a complex environment; when the drone is about to enter a high-security airspace containing government buildings or hospitals, the system increases the data cache amount in advance and improves the security verification level, so that the data is safer during transmission.

[0065] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0066] The design of a multi-entry and exit flight corridor improves the flexibility of drones entering and exiting the set airspace, reducing the risk of congestion and delay caused by a single entrance and exit. At the same time, combined with the three-layer airspace solution and dynamic path planning algorithm, drones can efficiently complete delivery tasks while ensuring the security and real-time nature of data transmission.

[0067] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0068] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0072] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0073] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A data transmission method for a satellite navigation system, characterized in that: include: S101, a data center receives target data sent by a reference station, the data center comprising a hybrid data service subscription interface; S102, the user terminal is provided with hybrid data subscription software, the hybrid data subscription software matches the hybrid data service subscription interface of the data center, and the transmission of high-precision data is authorized through a trigger mechanism. Through the trigger mechanism integrated in the user terminal, the user can set the acquisition conditions of high-precision data as needed, send the trigger high-precision data request to the data center, and process the transmitted high-precision data request through the real-time verification interface in the data center, and perform identity authentication; S103, based on step S102, after identity authentication is passed, the transmission of high-precision data is authorized according to the user's hybrid data subscription rights and trigger conditions, the authorized high-precision data is encrypted to generate an encryption key, and an authentication token is generated at the same time; S104, the user terminal uses the key in the transmitted security data packet to decrypt the high-precision data, and integrates the encrypted high-precision data with the existing low-precision data.

2. A satellite navigation system data transmission method as claimed in claim 1, characterized in that: The steps of encrypting the authorized high-precision data to generate an encryption key are as follows: the data center generates a key, uses a cipher block chaining mode to encrypt the high-precision data, the encryption process divides the data into blocks of fixed size, encrypts each block, and performs an XOR operation on the previous block and the current block, and then encrypts the result.

3. The data transmission method of a satellite navigation system according to claim 1, characterized in that: The authentication token contains the user's identity information and authority level. When the user terminal wants to access high-precision data, the data center identifies the validity of the authentication token.

4. The data transmission method of a satellite navigation system according to claim 1, characterized in that: The data integration processing includes data fusion, position comparison and path optimization. The data fusion refers to the fusion of high-precision data and low-precision data. The position comparison uses linear regression to calibrate and verify the low-precision data. Linear regression is used for calibration. The linear regression formula is Y=aX+b, where X is a low-precision value, Y is a predicted value of high-precision data, a and b are model parameters. The low-precision data is substituted into the formula to calculate the corresponding high-precision prediction value. The high-precision prediction value is the calibrated low-precision data. The high-precision data is used as a benchmark value to compare the high-precision data with the high-precision data prediction value.

5. The data transmission method of a satellite navigation system according to claim 1, characterized in that: Based on the data center in step S101, an airspace identification module and a data processing module are designed in the data center, and the drone control software is set in the user terminal; the airspace identification module receives the location information of the drone in real time, and processes the received location information through the data processing module, so that the unit of the real-time received location information is the same as the unit of the location information of the airspace rules preset in the airspace identification module, and compares the received location information with the airspace rules preset in the airspace identification module, and compares the real-time location of the drone with the fixed position of the preset airspace rules. If the real-time location is within the range of the airspace rules, it is determined that the drone is in a specific airspace. Otherwise, if the real-time location is not within the range of the airspace rules.

6. A satellite navigation system data transmission method as claimed in claim 5, characterized in that: The sensitive location information of the drone flight is leaked when it is transmitted to the user terminal.

7. A satellite navigation system data transmission method as claimed in claim 6, characterized in that: Collect information on sensitive locations, import the collected sensitive locations into geographic information software for marking, and mark the sensitive location data by creating layers. If the data contains coordinates, directly create the coordinates as points or surfaces to mark the sensitive locations. Surfaces refer to locations with boundaries. For data that does not contain coordinates but contains addresses or place names, convert the addresses and place names into geographic coordinates. By entering the addresses and place names, match the geographic database with the coordinates.

8. A satellite navigation system data transmission method as claimed in claim 6, characterized in that: The user terminal sets up a flight airspace in the system and divides the flight airspace into three levels, an inner trigger identification area, a middle data cache area and an outer originally set airspace boundary. The trigger identification area is the area closest to the sensitive position, and the data cache area is located between the trigger identification area and the originally set airspace boundary. The data cache area is used to temporarily store data.

9. A satellite navigation system data transmission method as claimed in claim 8, characterized in that: A flight gallery is preset in the flight airspace, and the flight gallery is a set of spatial data. Based on the flight gallery and the predicted flight path of the UAV, the system pre-checks and caches low-level spatial data.

10. A digital traffic path planning method for safe driving according to claim 9, characterized in that: The flight airspace has preset several flight corridor entrances and exits, each of which is designed around the boundary of the airspace, and the airspace is connected to the flight corridor through the flight corridor entrances and exits.

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