Defining and testing method for route of unmanned aerial vehicle

Abstract

A method for defining and checking an air route of an unmanned aerial vehicle belongs to the field of air routes of unmanned aerial vehicles, and comprises the following steps: step 1, setting an air route and generating a preset mark Hash value; sequentially connecting the information of all the mark points in series according to a flight sequence, and calculating a preset mark Hash value of the whole air route by using a Hash algorithm; 2, the unmanned aerial vehicle takes off, and an initial mark point Hash value is recorded; 3, flying to each middle mark point, and sequentially generating new Hash values; 4, when the unmanned aerial vehicle arrives at the end point, a final Hash value is generated and verified, when the unmanned aerial vehicle arrives at the last mark point of the flight route, the Hash value of the previous mark point is connected with the information of the mark point of the end point in series, and the final Hash value is calculated; and comparing and checking the final Hash value with a preset mark Hash value. According to the invention, real-time monitoring and verification of a flight path and a navigation process are realized, and the system has the characteristics of high efficiency, safety and reliability.

Description

Technical Field

[0001] The invention belongs to the field of unmanned aerial vehicles and route control, and relates to a definition and inspection method for a unmanned aerial vehicle route. Background Art

[0002] Drones have become the leading industry and key driving force in the low-altitude economy by virtue of their high flexibility, low cost, and easy operation. The advancement of drone technology has not only expanded the application scenarios of the low-altitude economy, but also determined the vitality and potential of the development of the entire low-altitude economy. In many fields such as logistics, inspection, agriculture, and film and television, drone technology is gradually being commercialized and releasing its huge value.

[0003] Although the popularity of drone commercialization has brought efficiency improvements to many industries, it has also exposed some new challenges. Among them, the safety and monitoring of flight routes are particularly prominent. In actual operation, drones may be threatened by hacker attacks, radio interference, etc., resulting in route deviation or flight mission failure. This puts higher technical requirements on drone operators, requiring real-time monitoring and verification of flight paths and navigation processes. Summary of the invention

[0004] In order to overcome the shortcomings of the existing technology, the present invention provides a method for defining and verifying a UAV route, which adopts a UAV route definition and verification mechanism based on a Hash algorithm. The mechanism stores and verifies the flight path of the UAV in the form of a hash value, ensures that the UAV flies according to the preset route, and detects route deviations afterwards, thereby realizing real-time monitoring and verification of the flight path and navigation process.

[0005] The technical solution adopted by the present invention to solve its technical problem is: A method for defining and verifying a UAV route, the method comprising the following steps: Step 1: Set the route and generate the preset flag Hash value; Before the drone takes off, the operator plans a complete flight route and sets several marking points on the route. The marking points are key nodes in the route. The marking point information is the location information provided by GPS / Beidou, that is, longitude, latitude and altitude or the identification of the ground station (such as the ID of the ground base station or the take-off and landing airport); Once the route and marking points are confirmed, the information of all marking points is concatenated in sequence according to the flight order, and the hash value of the preset mark of the entire route is calculated using the hash algorithm; Step 2: The drone takes off and records the hash value of the initial mark point; The drone records the mark point information of the starting position when taking off, and combines it with the drone's own unique ID number. This information is then concatenated and input into the Hash algorithm to calculate the Hash value of the initial mark point. Step 3: Fly to each intermediate mark point and generate a new Hash value in turn; Step 4: Generate and verify the final Hash value when arriving at the destination: When the drone reaches the last mark point of the flight route, the Hash value of the previous mark point is concatenated with the information of the destination mark point to calculate the final Hash value; the final Hash value is used as the unique identifier of the entire route and is compared and verified with the preset mark Hash value.

[0006] Furthermore, in step 4, the final Hash value is used as the unique identifier of the entire route and is compared with the preset mark Hash value. The verification results are divided into the following two cases: if the final generated Hash value is completely consistent with the preset mark Hash value, it means that the drone is flying strictly according to the predetermined route without any deviation or abnormality; if the two are inconsistent, it indicates that the drone may have route deviation, mark point data loss or abnormal interference during the flight. The system should immediately record the deviation information and notify the relevant operators to handle it.

[0007] Furthermore, in step 3, when the drone reaches an intermediate mark point during flight, a new Hash value is generated and the following operations are performed: 3.1) Get the hash value generated by the last mark point from the flight record; 3.2) Get the marker information of the current marker (such as GPS location information or ground station ID); 3.3) Connect the hash value of the previous mark point with the information of the current mark point, input the hash algorithm to calculate the hash value of the current mark point; 3.4) Store the generated hash value of the current mark point in the flight record as the basis for subsequent calculations; The hash values ​​of all intermediate marking points are calculated recursively.

[0008] Furthermore, in step 4, the calculation process of the final Hash value is as follows: 5.1) Get the Hash value of the second to last marker point: The Hash value of the second to last marker point in the flight path has been generated by the above method; 5.2) Connect the endpoint marker information: Connect the 3D position information or ground station ID information of the endpoint marker with the hash value of the penultimate marker; 5.3) Calculate the final Hash value: Input the concatenated string into the Hash algorithm to generate the final Hash value, which is the unique Hash identifier of the route.

[0009] Preferably, in step 1, the ground station identifier is the ID of a ground base station or a take-off and landing airport.

[0010] The technical concept of the present invention is: based on the three characteristics of the Hash algorithm: irreversibility, anti-collision and anonymity, a safe and efficient route encryption and detection mechanism is designed by utilizing these characteristics of the Hash algorithm to ensure the safety and integrity of the UAV flight path. The mechanism can encrypt the route information and verify and detect route deviations or anomalies when necessary.

[0011] Irreversibility: The irreversibility of the Hash algorithm ensures that the route information cannot be reverse cracked after encryption. This means that even if an attacker obtains the route data processed by the Hash, it is impossible to restore the specific information of the original route through reverse calculation. This feature ensures the privacy and security of the route data during transmission and storage.

[0012] Anti-collision: The Hash algorithm can ensure that different input data produces completely different output values. This feature is particularly important for the encryption of route data, because the information of each mark point in the route must be unique and cannot be tampered with. Anti-collision ensures that the Hash value generated by different combinations of route mark points is unique, thereby preventing route misjudgment caused by Hash collisions.

[0013] Anonymity: The anonymity of the Hash algorithm is that even if the input data changes slightly, the output Hash value will show a completely different result. This feature can effectively prevent attackers from predicting or interfering with the change of Hash value by modifying route data, thereby ensuring the reliability and non-tamperability of route information.

[0014] The beneficial effects of the present invention are mainly manifested in: 1. High efficiency. The Hash algorithm has a fast calculation speed and can generate and verify route data in real time during UAV flight missions, avoiding the inefficiency of manual intervention and waste of resources. 2. Security. The irreversibility and anti-collision properties of the Hash algorithm ensure the integrity of route data. Even if a hacker obtains the hash value, the specific flight path cannot be restored, thus ensuring the privacy and security of route information. 3. Reliability. By comparing flight data with the hash value, it is possible to quickly identify whether the UAV has deviated from the route and the specific degree of deviation, which provides a solid technical guarantee for autonomous navigation of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of a method for defining and verifying a UAV route.

[0016] Figure 2 An example diagram of intermediate marking points on a route formed by a network of ground stations.

[0017] Figure 3This is an example diagram of generating a route hash value with a ground station as the intermediate marker point of the route.

[0018] Figure 4 It is the execution flow chart of the entire route hash value generation. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Reference Figure 1 , a method for defining and verifying a UAV route, comprising the following steps: Step 1: Set the route and generate the preset flag Hash value. The process is as follows: In order to achieve Hash encryption and verification of the route, several markers are set on the UAV flight path. Each marker represents a key position in the route. The marker information includes the following two types: Satellite positioning data: The marker point is composed of three-dimensional location information provided by the GPS or Beidou system, including longitude, latitude and altitude. This information intuitively reflects the geographic location of the drone during flight.

[0021] Ground station identification: The marker point is represented by the ID information of the ground station or airport, such as the unique identifier of a multi-stage take-off and landing airport. This identifier can provide additional information for locating the stage status of the drone in the route.

[0022] All the marking point information is concatenated in sequence according to the actual flight order of the drone to form a Hash data chain. The final Hash value, that is, the encryption result of the last marking point, will serve as the unique identifier of the entire route for subsequent verification and safety inspection; Through this design, the information of each marking point during the drone flight will be recorded in real time and participate in the Hash calculation, ensuring that the route data cannot be forged or tampered with; this mechanism can effectively improve the safety of the drone flight path, and at the same time provide a reliable basis for subsequent post-audits.

[0023] Table 1 is an information table with ground stations as marking points:

[0024] Table 2 is an information table using GPS / Beidou and other satellite positioning as marking points:

[0025] The route hash algorithm gradually encrypts all the marking point information of the drone from the starting point to the end point, and finally generates a unique route identifier.

[0026] Step 2: The drone takes off and records the hash value of the initial mark point; The drone records the mark point information of the starting position when taking off, and combines it with the drone's own unique ID number. This information is then concatenated and input into the Hash algorithm to calculate the Hash value of the initial mark point. The steps for generating the Hash value of the initial marking point are as follows: 2.1) Record the drone ID number: Each drone has a unique ID number, which is used to identify the drone’s identity information; 2.2) Record the ID information of the departure airport: the unique identifier of the airport or ground station where the drone took off; 2.3) Combine information and calculate hash: Concatenate the drone ID and takeoff airport ID in sequence to form a string, and input it into the hash algorithm to calculate the hash value of the initial mark point.

[0027] Step 3: Fly to each intermediate mark point and generate a new Hash value in turn In the flight path of the drone, there may be multiple marking points from the starting point to the end point. The hash value of each marking point is generated based on the concatenation of the hash value of the previous marking point and the current marking point information. During the flight of the drone, each time it reaches an intermediate mark point, a new Hash value is generated to perform the following operations: 3.1) Get the hash value generated by the last mark point from the flight record; 3.2) Obtain relevant information of the current marker point (such as GPS location information or ground station ID); 3.3) Connect the hash value of the previous mark point with the information of the current mark point, input the hash algorithm to calculate the hash value of the current mark point; 3.4) Store the generated hash value of the current marker in the flight record as the basis for subsequent calculations.

[0028] Through this chain calculation method, it is ensured that the information of each marking point is closely related to the Hash values ​​of all previous marking points, thus forming a complete Hash chain.

[0029] Step 4: Generate the final Hash value upon reaching the end point and verify it; The unique identifier of the route is determined by the hash value of the destination mark point, that is, the final hash value. The calculation process of the final hash value is as follows: 4.1) Get the Hash value of the second to last marker point: The Hash value of the second to last marker point in the flight path has been generated by the above method; 4.2) Connect the endpoint marker information: Connect the 3D position information or ground station ID information of the endpoint marker with the hash value of the penultimate marker; 4.3) Calculate the final Hash value: Input the concatenated string into the Hash algorithm to generate the final Hash value, which is the unique Hash identifier of the route.

[0030] In step 4, the final Hash value is used as the unique identifier of the entire route and is compared with the preset mark Hash value. The verification results are divided into the following two cases: if the final generated Hash value is completely consistent with the preset mark Hash value, it means that the drone is flying strictly according to the predetermined route without any deviation or abnormality; if the two are inconsistent, it indicates that the drone may have route deviation, mark point data loss or abnormal interference during the flight. The system should immediately record the deviation information and notify the relevant operators to handle it.

[0031] The hash algorithm of this embodiment, also known as the hash algorithm, is a mathematical transformation method that aims to map input data of any length to output data of a fixed length. After being processed by the algorithm, the input data will generate a unique hash value or hash value, and this mapping relationship is highly sensitive, that is, every bit change in the source data will cause a significant change in the hash value. This feature makes the hash algorithm widely used in fields such as data verification, cryptography, and digital signatures.

[0032] The core idea of ​​the hash algorithm is to perform a specific mathematical transformation on input data of any length and output a fixed-length hash value. Regardless of the type or length of the input data, the input data is converted into a binary bit sequence for processing within the hash algorithm. For example, when a file is processed by the hash algorithm, a unique fixed-length numeric string is generated. This numeric string is the "summary information" or hash value of the file.

[0033] The output of the hash algorithm is deterministic, that is, the same input will inevitably produce the same output. However, this algorithm essentially maps a large range of input value space to a relatively small range of output value space. The design of mapping a large range to a small range is mainly to save storage space, improve data processing efficiency, and facilitate rapid comparison and verification. Another advantage of this design is the uniformity of the hash distribution, that is, changes in input data will make the output value distribution random and uniform, avoiding the influence of specific data patterns on the algorithm.

[0034] Hash algorithms are widely used in the field of information protection due to their security and efficiency. The following are the core features of Hash algorithms: Irreversibility: Hash algorithms are one-way, that is, it is almost impossible to infer the corresponding input value from the output value. This feature makes it difficult to easily restore the original information of sensitive data after it is processed by hashing, even if it is captured by malicious attackers. For example, when flight data is converted into a hash value, even if a hacker obtains the hash value, it is difficult to crack and restore the original flight data.

[0035] Anti-collision: The anti-collision property of the hash algorithm is that it is almost impossible for two different input data to generate the same output hash value. Highly anti-collision algorithms such as MD5 and SHA series algorithms ensure that different files have unique digital identifiers in large-scale data processing scenarios. This feature is particularly suitable for data integrity verification, because any tampering with the original file will cause the generated hash value to change, making it easy to detect the authenticity of the file.

[0036] Sensitivity and anonymity: Hash algorithms are extremely sensitive to changes in input data. Even if only one bit of the input data changes, the output hash value will show a completely different result. This feature is called the "avalanche effect", which makes it impossible for attackers to predict the change of hash values ​​by modifying part of the input. This feature is particularly important when protecting sensitive information. For example, in drone route planning, if the route information is stored in the form of hash values, even if an attacker tries to tamper with part of the route data, the modification traces can be easily captured.

[0037] Efficiency: Hash algorithm has a fast computing speed and can quickly process large-scale data while ensuring the uniformity of hash distribution. This makes it widely used in high-concurrency scenarios, such as for block identification generation in blockchain networks, or for fast retrieval and indexing in big data storage.

[0038] In the field of drones, the Hash algorithm can convert route data into a unique hash value and store it in a database. In this way, even if the route data is intercepted or modified by an attacker during transmission, the potential risks can be quickly detected and avoided by comparing the changes in the hash value.

[0039] The solution of this embodiment has high security: the final Hash value of the route integrates the information of all marking points in the entire flight path, ensuring that tampering with the data of any marking point will cause a significant change in the Hash value, which is convenient for rapid detection of route deviations or anomalies.

[0040] Efficiency: The computational complexity of the Hash algorithm is low, and the Hash calculation of each marker point can be completed in real time during the flight of the drone, reducing the use of storage and computing resources.

[0041] Integrity: By connecting the information of all the marking points in series to form a complete hash chain, the algorithm can clearly reflect the actual flight path of the drone and provide sufficient basis for subsequent path verification and anomaly detection.

[0042] Application example: Assume that a drone flight path contains the following three markers: Starting point: longitude 120.1234, latitude 30.5678, altitude 100 meters; Midpoint: longitude 120.2345, latitude 30.6789, altitude 150 meters; End point: longitude 120.3456, latitude 30.7890, altitude 200 meters.

[0043] The process of generating route Hash is as follows: Starting point hash value: Calculate the hash value by connecting the drone ID with the starting point location information.

[0044] Midpoint Hash value: Calculated by connecting the starting point Hash value with the midpoint location information.

[0045] End point Hash value: Calculated by connecting the intermediate point Hash value with the end point location information. The end point Hash value is the unique identifier of the route.

[0046] Through this step-by-step calculation method, the route information can be encrypted, stored and quickly verified, effectively improving the safety and reliability of drone operations.

[0047] Ground station based example: Figure 2 and Figure 3 , the ground operation network consists of multiple multi-level take-off and landing airports and several ground stations. The operation of drone routes is a series of different paths planned in the ground network. This operation mode is mostly suitable for logistics or express delivery industries. The ground operation monitoring center, ground station, and airport are equipped with WIFI routers, 5G communication terminals and computers. There is no public network connection between WIFI routers, and data communication is carried out between various ground stations, airports and monitoring centers through 5G telecommunications networks. In addition, all ground stations, airports and centers are marked with satellite positioning information such as longitude and latitude on the GIS map.

[0048] The ground station mark point information of the selected route is serially grouped and saved in Hash data, which is called the preset mark here. It is not stored in the drone but in the monitoring center for final comparison. The drone takes off from the departure airport and starts to fly. The current hash value is generated according to the departure airport ID. The software is navigated to the marked ground station, airport and other locations according to the pre-configured route information. When flying over a ground station or airport, it senses the WiFi routing signal and accesses the local area network. Through interaction with the ground station, the ground station ID information is obtained, and the previously stored hash value is combined with the current ground station ID to generate a new hash value to replace the original hash value storage. After completion, the software continues to navigate, fly away from the current station, fly to the next station, and repeat the above operation for each station until it lands at the destination airport, generating the final hash value, which is the unique mark of the drone's current journey. The user can compare whether the final hash value output by the drone is the same as the preset mark hash value to determine the certainty of the drone's flight route.

[0049] During the flight above, after the ground station interacts with the low-altitude drone, such as reporting its own ID to the drone, it will also obtain the drone's ID and report it to the monitoring center through the 5G network. The location of the drone's airspace on the route can be displayed in real time on the large screen of the monitoring center.

[0050] GNSS-based example: Figure 4 When a ground station cannot be established due to resource or geographical restrictions, the location information can be directly used as a marker through the GNSS system. This is suitable for remote areas where ground stations cannot be established due to terrain. After setting the route in the flight control unit (FCU), the navigation software automatically divides the continuous route into several interval flight markers, and takes into account their geographical location information, and generates the hash value of the route in a sequential manner. The preset markers are stored in the monitoring system for backup.

[0051] When the drone is flying, the navigation software senses the current position information in real time during the flight. Once the position information is consistent with the three-dimensional position of the preset mark point, the hash value is generated in a sequential manner until it reaches the end of the route. After the flight, the user can compare the hash value output by the drone with the preset mark to determine the certainty of the drone's flight route.

[0052] The contents described in the embodiments of this specification are merely enumerations of implementation forms of the inventive concept and are for illustrative purposes only. The protection scope of the present invention should not be considered to be limited to the specific forms described in this embodiment, and the protection scope of the present invention also extends to equivalent technical means that can be thought of by ordinary technicians in this field based on the inventive concept.

Claims

1. A method for defining and verifying a UAV route, characterized in that: The method comprises the following steps: Step 1: Set the route and generate the preset flag Hash value; Before the drone takes off, the operator plans a complete flight route and sets several marking points on the route. The marking points are key nodes in the route. The marking point information includes the location information provided by GPS / Beidou, that is, longitude, latitude and altitude or the identification of the ground station; Once the route and marking points are confirmed, the information of all marking points is concatenated in sequence according to the flight order, and the hash value of the preset mark of the entire route is calculated using the hash algorithm; Step 2: The drone takes off and records the hash value of the initial mark point; The drone records the mark point information of the starting position when taking off, and combines it with the drone's own unique ID number. This information is then concatenated and input into the Hash algorithm to calculate the Hash value of the initial mark point. Step 3: Fly to each intermediate mark point and generate a new Hash value in turn; Step 4: Generate and verify the final Hash value when arriving at the destination: When the drone reaches the last mark point of the flight route, the Hash value of the previous mark point is concatenated with the information of the destination mark point to calculate the final Hash value; the final Hash value is used as the unique identifier of the entire route and is compared and verified with the preset mark Hash value.

2. A method for defining and verifying a UAV route as claimed in claim 1, characterized in that: In step 4, the final Hash value is used as the unique identifier of the entire route and is compared with the preset mark Hash value. The verification results are divided into the following two cases: if the final generated Hash value is completely consistent with the preset mark Hash value, it means that the drone is flying strictly according to the predetermined route without any deviation or abnormality; if the two are inconsistent, it indicates that the drone may have route deviation, mark point data loss or abnormal interference during the flight. The system should immediately record the deviation information and notify the relevant operators to handle it.

3. A method for defining and verifying a UAV route as claimed in claim 1 or 2, characterized in that: In step 3, during the flight of the drone, each time it reaches an intermediate mark point, a new Hash value is generated, and the following operations are performed: 3.1) Get the hash value generated by the last mark point from the flight record; 3.2) Get the marking point information of the current marking point; 3.3) Connect the hash value of the previous mark point with the information of the current mark point, input the hash algorithm to calculate the hash value of the current mark point; 3.4) Store the generated hash value of the current mark point in the flight record as the basis for subsequent calculations; The hash values ​​of all intermediate marking points are calculated recursively.

4. A method for defining and verifying a UAV route as claimed in claim 1 or 2, characterized in that: In step 4, the calculation process of the final Hash value is as follows: 4.1) Get the Hash value of the second to last marker point: The Hash value of the second to last marker point in the flight path has been generated by the above method; 4.2) Connect the endpoint marker information: Connect the 3D position information or ground station ID information of the endpoint marker with the hash value of the penultimate marker; 4.3) Calculate the final Hash value: Input the concatenated string into the Hash algorithm to generate the final Hash value, which is the unique Hash identifier of the route.

5. A method for defining and verifying a UAV route as claimed in claim 1 or 2, characterized in that: In step 1, the ground station identifier is the ID of the ground base station or the take-off and landing airport.

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