A method for defining and verifying a drone route

Abstract

A method for defining and verifying a UAV flight path, belonging to the field of UAV flight paths, includes the following steps: Step 1, set the flight route and generate a preset flag Hash value; concatenate the information of all marked points in sequence according to the flight order, and use the Hash algorithm to calculate the preset flag Hash value of the entire flight path; Step 2, the UAV takes off and records the initial marked point Hash value; Step 3, fly to each intermediate marked point and generate new Hash values in sequence; Step 4, generate the final Hash value and verify when reaching the end point: when the UAV reaches the last marked point of the flight path, concatenate the Hash value of the previous marked point with the information of the end marked point, and calculate the final Hash value; compare and verify the final Hash value with the preset flag Hash value. The present invention realizes the real-time monitoring and verification of the flight path and navigation process, and has the characteristics of high efficiency, safety and reliability.

Description

Technical Field

[0001] The present invention belongs to the fields of unmanned aerial vehicles and route control, and relates to a method for defining and inspecting the route of an unmanned aerial vehicle. Background Art

[0002] Unmanned aerial vehicles (UAVs) have become the leading industry and key driving force in the low-altitude economy due to their advantages such as high flexibility, low cost, and easy operation. The progress of UAV technology not only expands the application scenarios of the low-altitude economy but also determines the vitality and potential of the entire low-altitude economy. In many fields such as logistics, inspection, agriculture, and film and television, UAV technology is gradually achieving commercial implementation and releasing its huge value.

[0003] Although the popularization of UAV commercialization has brought efficiency improvements to many industries, it has also exposed some new challenges. Among them, the safety and monitoring issues of flight routes are particularly prominent. In actual operation, UAVs may be threatened by hacker attacks, radio interference, etc., resulting in route deviation or flight mission failure. This poses higher technical requirements for UAV operators, and real-time monitoring and verification of the flight path and navigation process are needed. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a method for defining and inspecting the route of an unmanned aerial vehicle, adopting a UAV route definition and inspection mechanism based on the Hash algorithm. This mechanism stores and verifies the flight path of the UAV in the form of a hash value to ensure that the UAV flies according to the preset route and detects route deviation after the event; realizes 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 problems is:

[0006] A method for defining and inspecting the route of an unmanned aerial vehicle, the method comprising the following steps:

[0007] Step 1: Set the route and generate a preset flag Hash value;

[0008] Before the UAV 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, and the marking point information is the position information provided by GPS / Beidou, that is, longitude, latitude, and altitude or the identifier of the ground station (such as the ID of the ground base station or the takeoff and landing airport);

[0009] Once the route and marking points are confirmed to be correct, the information of all marking points is concatenated in sequence according to the flight order, and the preset flag Hash value of the entire route is calculated using the Hash algorithm;

[0010] Step 2: The UAV takes off and records the initial marking point Hash value;

[0011] When the UAV takes off, it records the marker point information of the starting position. At the same time, in combination with the unique ID number of the UAV itself, these information are concatenated and then input into the Hash algorithm to calculate the Hash value of the initial marker point;

[0012] Step 3: Fly to each intermediate marker point and generate new Hash values in sequence;

[0013] Step 4: Generate the final Hash value and perform verification when reaching the end point: When the UAV reaches the last marker point of the flight route, the Hash value of the previous marker point is concatenated with the information of the end point marker point to calculate the final Hash value; The final Hash value serves as the unique identifier of the entire route and is compared and verified with the preset flag Hash value.

[0014] Furthermore, in the said Step 4, the final Hash value serves as the unique identifier of the entire route and is compared with the preset flag Hash value. The verification results are divided into the following two situations: If the finally generated Hash value is exactly the same as the preset flag Hash value, it indicates that the UAV has flown strictly according to the predetermined route without any deviation or abnormality; If the two are inconsistent, it indicates that there may be route deviation, marker point data loss or abnormal interference during the flight of the UAV. The system should immediately record the deviation information and notify the relevant operation personnel for processing.

[0015] Still further, in the said Step 3, during the flight of the UAV, when reaching each intermediate marker point, a new Hash value will be generated, and the following operations are performed:

[0016] 3.1) Obtain the Hash value generated by the previous marker point from the flight record;

[0017] 3.2) Obtain the marker point information of the current marker point (such as GPS position information or ground station ID);

[0018] 3.3) Concatenate the Hash value of the previous marker point and the information of the current marker point head to tail, and input them into the Hash algorithm to calculate the Hash value of the current marker point;

[0019] 3.4) Store the generated Hash value of the current marker point in the flight record as the basis for subsequent calculations;

[0020] The Hash values of all intermediate marker points are calculated recursively in sequence.

[0021] Even further, in the said Step 4, the calculation process of the final Hash value is as follows:

[0022] 5.1) Obtain the Hash value of the penultimate marker point: The Hash value of the penultimate marker point in the flight path has been generated by the above method;

[0023] 5.2) Connect the end point marker information: Connect the three-dimensional position information of the end point marker or the ground station ID information with the Hash value of the penultimate marker.

[0024] 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.

[0025] Preferably, in step 1, the identifier of the ground station is the ID of the ground base station or the takeoff and landing airport.

[0026] The technical concept of the present invention is: Based on the three major characteristics of the Hash algorithm: irreversibility, anti-collision, and concealability, a safe and efficient route encryption and detection mechanism is designed by utilizing these characteristics of the Hash algorithm to ensure the security and integrity of the UAV flight path. This mechanism can encrypt the route information and verify and detect route deviations or anomalies when needed.

[0027] 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 Hash, they cannot reverse-calculate to restore the specific information of the original route. This characteristic ensures the privacy and security of the route data during transmission and storage.

[0028] Anti-collision: The Hash algorithm can ensure that different input data produce completely different output values. This characteristic is particularly important for the encryption of route data because the information of each marker point in the route must be unique and cannot be tampered with. Anti-collision ensures the uniqueness of the Hash values generated by different route marker point combinations, thus preventing misjudgment of the route caused by Hash collisions.

[0029] Concealability: The concealability of the Hash algorithm is manifested in that even if the input data changes minimally, the output Hash value will present a completely different result. This characteristic can effectively prevent attackers from predicting or interfering with the change of the Hash value by modifying the route data, thus ensuring the reliability and non-tamperability of the route information.

[0030] The beneficial effects of the present invention are mainly manifested in the following aspects: 1. High efficiency: The calculation speed of the Hash algorithm is fast, which can generate and verify route data in real time during the UAV flight mission, avoiding the inefficiency and resource waste of manual intervention. 2. Security: The irreversibility and anti-collision property of the Hash algorithm ensure the integrity of the route data. Even if a hacker obtains the hash value, it is impossible to restore the specific flight path, thus protecting the privacy and security of the route information. 3. Reliability: By comparing the flight data with the hash value, it is possible to quickly identify whether the UAV deviates from the route and the specific degree of deviation, which provides a solid technical guarantee for the autonomous navigation of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flowchart of a method for defining and verifying a UAV route.

[0032] Figure 2 is an example diagram of an intermediate marker point of a route composed of the network of a ground station.

[0033] Figure 3 is an example diagram of generating a route hash value with a ground station as an intermediate marker point of the route.

[0034] Figure 4 is an execution flowchart of generating the entire route hash value. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The present invention will be further described below with reference to the accompanying drawings.

[0036] Refer to Figure 1 , a method for defining and verifying a UAV route, comprising the following steps:

[0037] Step 1: Set the route and generate a preset flag Hash value, the process is as follows:

[0038] In order to achieve the Hash encryption and verification of the route, several marker points are set on the UAV flight path, and each marker point represents a key position in the route. The marker point information includes the following two types:

[0039] Satellite positioning data: The marker point is composed of three-dimensional position information provided by the GPS or Beidou system, including longitude, latitude and altitude. This kind of information intuitively reflects the geographical position of the UAV during flight.

[0040] Ground station identifier: The marker point is represented by the ID information of the ground station or airport, such as the unique identifier of a multi-level takeoff and landing airport. This kind of identifier can provide additional information for positioning the phased state of the UAV in the route.

[0041] All the marker point information is concatenated in sequence according to the actual flight order of the UAV to form a Hash data chain. The final Hash value, which is the encryption result of the last marker point, will be used as the unique identifier for the entire flight path for subsequent verification and security checks;

[0042] With this design, the information of each marker point during the UAV flight will be recorded in real time and participate in the Hash calculation to ensure that the flight path data cannot be forged or tampered with; this mechanism can effectively improve the path security of the UAV flight and provide a reliable basis for subsequent post-event audits.

[0043] Table 1 is the information table with the ground station as the marker point:

[0044]

[0045] Table 2 is the information table with satellite positioning such as GPS / Beidou as the marker point:

[0046]

[0047] The flight path Hash algorithm gradually encrypts all the marker point information of the UAV from the starting point to the ending point, and finally generates a unique flight path identifier.

[0048] Step 2: The UAV takes off and records the Hash value of the initial marker point;

[0049] When the UAV takes off, it records the marker point information at the starting position. At the same time, combined with the unique ID number of the UAV itself, these information are concatenated and then input into the Hash algorithm to calculate and generate the Hash value of the initial marker point;

[0050] The generation steps of the Hash value of the initial marker point are as follows:

[0051] 2.1) Record the UAV ID number: Each UAV has a unique ID number, which is used to identify the identity information of the UAV;

[0052] 2.2) Record the ID information of the take-off airport: The unique identifier of the airport or ground station where the UAV takes off;

[0053] 2.3) Combine the information and calculate the Hash: Connect the UAV ID and the take-off airport ID in sequence to form a string, and input it into the Hash algorithm to calculate and obtain the Hash value of the initial marker point.

[0054] Step 3: Fly to each intermediate marker point and generate a new Hash value in sequence

[0055] In the flight path of the drone, it may pass through multiple marker points from the starting point to the ending point. The generation of the Hash value for each marker point is based on the concatenation result of the Hash value of the previous marker point and the information of the current marker point;

[0056] During the flight of the drone, when it reaches each intermediate marker point, a new Hash value will be generated to perform the following operations:

[0057] 3.1) Obtain the Hash value generated by the previous marker point from the flight record;

[0058] 3.2) Obtain the relevant information of the current marker point (such as GPS position information or ground station ID);

[0059] 3.3) Concatenate the Hash value of the previous marker point and the information of the current marker point end to end, and input it into the Hash algorithm to calculate the Hash value of the current marker point;

[0060] 3.4) Store the generated Hash value of the current marker point in the flight record as the basis for subsequent calculations.

[0061] Through this chained calculation method, it is ensured that the information of each marker point is closely related to the Hash values of all previous marker points, thus forming a complete Hash chain.

[0062] Step 4: Generate the final Hash value and verify it when reaching the end point;

[0063] The unique identifier of the route is determined by the Hash value of the end marker point, that is, the final Hash value. The calculation process of the final Hash value is as follows:

[0064] 4.1) Obtain the Hash value of the penultimate marker point: The Hash value of the penultimate marker point in the flight path has been generated by the above method;

[0065] 4.2) Connect the information of the end marker point: Connect the three-dimensional position information or ground station ID information of the end marker point with the Hash value of the penultimate marker point;

[0066] 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.

[0067] In step 4, the final Hash value is used as the unique identifier of the entire flight path and compared with the preset flag Hash value. The verification results are divided into the following two cases: If the finally generated Hash value is exactly the same as the preset flag Hash value, it indicates that the UAV strictly follows the predetermined flight path without any deviation or abnormality; if the two are inconsistent, it indicates that there may be flight path deviation, marker point data loss or abnormal interference during the flight of the UAV. The system should immediately record the deviation information and notify the relevant operators for handling.

[0068] The Hash algorithm in this embodiment, also known as the hashing algorithm, is a mathematical transformation method designed to map input data of any length to output data of a fixed length. After being processed by this algorithm, the input data will generate a unique hash value or Hash value, and this mapping relationship is highly sensitive, that is, every change in the source data will cause a significant change in the hash value. This characteristic makes the Hash algorithm widely used in fields such as data verification, cryptography, and digital signatures.

[0069] The core idea of the Hash algorithm is to perform a specific mathematical transformation on input data of any length and output a hash value of a fixed length. Regardless of the type or length of the input data, inside the Hash algorithm, the input data is converted into a binary bit sequence for processing. For example, when a file is processed by the Hash algorithm, a unique fixed-length digital string will be generated, and this digital string is the "abstract information" or Hash value of the file.

[0070] The output of the Hash algorithm is deterministic, that is, the same input will definitely get the same output. However, this algorithm essentially maps a large range of input value spaces to a relatively small range of output value spaces. The design of mapping a large range to a small range is mainly to save storage space, improve data processing efficiency, and facilitate quick comparison and verification. Another advantage of this design is the uniformity of the hash distribution, that is, the change of the input data will make the output values distributed randomly and evenly, avoiding the influence of specific data patterns on the algorithm.

[0071] The Hash algorithm is widely used in the field of information protection due to its security and efficiency. The following are the core characteristics of the Hash algorithm:

[0072] Irreversibility: The Hash algorithm is one-way, that is, it is almost impossible to reverse the corresponding input value from the output value. This characteristic makes it difficult to easily restore the original information even if sensitive data is captured by malicious attackers after being processed by Hash. For example, when the flight path 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 path data.

[0073] Collision Resistance: The collision resistance of the Hash algorithm is reflected in the fact that it is almost impossible for two different input data to generate the same output hash value. Algorithms with high collision resistance, such as MD5 and SHA series algorithms, ensure that in large-scale data processing scenarios, different files have unique digital identifiers. This feature is especially applicable to data integrity verification, because any tampering with the original file will cause the generated hash value to change, thus easily detecting the authenticity of the file.

[0074] Sensitivity and Concealment: The Hash algorithm is extremely sensitive to changes in input data. Even if only one bit of the input data changes, the output hash value will present a completely different result. This feature is called the "avalanche effect", which makes it impossible for attackers to predict the change of the hash value by modifying a part of the input. This feature is particularly important when protecting sensitive information. For example, in the flight path planning of drones, if the flight path information is stored in the form of a hash value, even if an attacker tries to tamper with part of the flight path data, the modification trace can be easily captured.

[0075] Efficiency: The Hash algorithm has a relatively fast calculation speed, can quickly process large-scale data, and at the same time ensure the uniformity of the hash distribution. This makes it widely used in high-concurrency scenarios, such as in blockchain networks for generating block identifiers, or in large data storage for fast retrieval and indexing.

[0076] In the field of drones, the Hash algorithm can convert flight path data into a unique hash value and store it in the database. In this way, even if the flight path data is intercepted or modified by an attacker during transmission, potential risks can be quickly detected and avoided by comparing the change of the hash value.

[0077] The solution of this embodiment has high security: the final Hash value of the flight path integrates the information of all marked points in the entire flight path, ensuring that any tampering with the data of a marked point will cause a significant change in the Hash value, which is convenient for quickly detecting flight path deviations or anomalies.

[0078] Efficiency: The calculation complexity of the Hash algorithm is relatively low, and the Hash calculation of each marked point can be completed in real time during the flight of the drone, reducing the occupation of storage and computing resources.

[0079] Integrity: By concatenating the information of all marked points to form a complete Hash chain, this algorithm can clearly reflect the actual flight path of the drone and provide sufficient basis for subsequent path verification and anomaly detection.

[0080] Application Example: Suppose a drone flight path contains the following three marked points:

[0081] Starting Point: Longitude 120.1234, Latitude 30.5678, Altitude 100 meters;

[0082] Midpoint: Longitude 120.2345, Latitude 30.6789, Altitude 150 meters;

[0083] Endpoint: Longitude 120.3456, Latitude 30.7890, Altitude 200 meters.

[0084] The process of generating the route Hash is as follows:

[0085] Starting point Hash value: Calculate the Hash value after concatenating the UAV ID with the location information of the starting point.

[0086] Midpoint Hash value: Calculate after concatenating the starting point Hash value with the midpoint location information.

[0087] Endpoint Hash value: Calculate after concatenating the midpoint Hash value with the endpoint location information. The endpoint Hash value is the unique identifier of the route.

[0088] Through this step-by-step calculation method, it is possible to achieve encrypted storage and rapid verification of route information, effectively improving the safety and reliability of UAV operations.

[0089] Example based on the ground station: Refer to Figure 2 and Figure 3 , the ground consists of an operation network composed of multiple multi-level takeoff and landing airports and several ground stations. The UAV route operation is a number of different paths planned in the ground network. This operation mode is mostly applicable to the logistics or express delivery industry. The ground operation monitoring center, ground stations, and airports are all equipped with WIFI routers, 5G communication terminals, and computers. There is no public network connection between the WIFI routers. Data communication between each ground station, airport, and monitoring center is carried out through the 5G telecommunications network. In addition, all ground stations, airports, and centers are marked with satellite positioning location information such as longitude and latitude on the GIS map.

[0090] The ground station marking point information of the selected route is sequentially concatenated and grouped to save the Hash data, which is called the preset flag here. It is not stored in the UAV but in the monitoring center for final comparison. The UAV takes off from the departure airport and starts to navigate. According to the ID of the departure airport, the current hash value is generated. It navigates software according to the pre-configured route information to fly over the marked ground stations, airports and other locations. When flying over a ground station or airport location, it senses the wifi routing signal, accesses the local area network, and obtains the ID information of the ground station through interaction with the ground station. The previously stored hash value is combined with the ID of the current ground station to generate a new hash value to replace the original hash value for storage. After completion, it continues to be navigated by software, flies away from the current station, and flies to the next station. The above operations are repeated every time it reaches a station until it lands at the destination airport, generating the final hash value, which is the unique identifier of this section of the UAV's voyage. Users can compare whether the final hash value output by the UAV is the same as the preset flag hash value to judge the certainty of the UAV's flight route.

[0091] During the above flight process, after the ground station interacts with the low-altitude UAV, such as reporting its own ID to the UAV, it will also obtain the ID of the UAV and report it to the monitoring center through the 5G network. The position of the airspace where the UAV is located on this route can be displayed in real time on the large screen of the monitoring center.

[0092] Example based on GNSS: Refer to Figure 4 , when it is impossible to establish a ground station due to reasons such as resources and geographical restrictions, the position information can be directly used as a marking point through the GNSS system, which is applicable to remote areas and areas where it is impossible to establish a ground station due to terrain. After setting the route in the flight control unit (FCU), the navigation software automatically divides the continuous route into several spaced flight marking points, records their geographical location information, and generates the hash value of this route in the way of sequential grouping. The preset flag is stored in the monitoring system for backup.

[0093] When the UAV 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 marking point, the hash value is generated in the way of sequential concatenation and grouping until the end of the route is reached. After the flight is over, users can compare the hash value output by the UAV with the preset flag to judge the certainty of the UAV's flight route.

[0094] The content described in the embodiments of this specification is only a list of the implementation forms of the inventive concept and is only for illustrative purposes. The protection scope of the present invention should not be regarded as limited to the specific forms stated in this embodiment. The protection scope of the present invention also extends to equivalent technical means that can be thought of by those of ordinary skill in the art according to the inventive concept of the present invention.

Claims

1. A method for defining and verifying an unmanned aerial vehicle route, characterized in that The method includes the following steps: Step 1, set the flight route and generate a preset flag Hash value; Before the UAV 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, and the marking point information includes the position information provided by GPS / Beidou, i.e., longitude, latitude, and altitude or the identifier of the ground station; Once the flight route and marking points are confirmed to be correct, the information of all marking points is concatenated in sequence according to the flight order, and the preset flag Hash value of the entire route is calculated using the Hash algorithm; Step 2, the UAV takes off and records the initial marking point Hash value; When the UAV takes off, it records the marking point information of the starting position. At the same time, combined with the unique ID number of the UAV itself, this information is concatenated and then input into the Hash algorithm to calculate and generate the Hash value of the initial marking point; Step 3, fly to each intermediate marking point and generate a new Hash value in sequence; Step 4, reach the end point to generate the final Hash value and perform verification: when the UAV reaches the last marking point of the flight route, concatenate the Hash value of the previous marking point with the information of the end point marking 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 flag Hash value.

2. The method for defining and verifying a UAV route according to claim 1, wherein In the above Step 4, the final Hash value is used as the unique identifier of the entire route and is compared with the preset flag Hash value. The verification results are divided into the following two cases: if the finally generated Hash value is exactly the same as the preset flag Hash value, it means that the UAV has flown strictly according to the predetermined route without any deviation or abnormality; if the two are inconsistent, it indicates that there may be route deviation, marking point data loss, or abnormal interference during the flight of the UAV. The system should immediately record the deviation information and notify the relevant operators for processing.

3. A method for defining and verifying a UAV flight path according to claim 1 or 2, characterized in that, In the above Step 3, during the flight of the UAV, when it reaches each intermediate marking point, a new Hash value will be generated and the following operations will be performed: 3.1) Obtain the Hash value generated by the previous marking point from the flight record; 3.2) Obtain the marking point information of the current marking point; 3.3) Concatenate the Hash value of the previous marking point with the information of the current marking point at the head and tail, and input it into the Hash algorithm to calculate the Hash value of the current marking point; 3.4) Store the generated Hash value of the current marking point in the flight record as the basis for subsequent calculations; The Hash values of all intermediate marking points are calculated recursively in sequence.

4. A method for defining and verifying a UAV flight path according to claim 1 or 2, characterized in that In the above Step 4, the calculation process of the final Hash value is as follows: 4.1) Obtain the Hash value of the second-to-last marking point: The Hash value of the second-to-last marking point in the flight path has been generated by the above method; 4.2) Connect the information of the end point marking point: Connect the three-dimensional position information or ground station ID information of the end point marking point with the Hash value of the second-to-last marking point; 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 drone flight path according to claim 1 or 2, characterized in that, In the said step 1, the identifier of the ground station is the ID of the ground base station or the takeoff and landing airport.

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