Unmanned aerial vehicle remote control instruction verification method, remote control equipment and storage medium

Abstract

The invention discloses an unmanned aerial vehicle remote control instruction verification method, and the method comprises the following steps: obtaining a locking application instruction which comprises a unique activation code, a controller number, a number of an unmanned aerial vehicle applying for locking, and a timestamp; checking whether the activation code in the locking application instruction is valid or not; after verification of the activation code is passed, whether the current applied unmanned aerial vehicle is locked or not is checked; if the current unmanned aerial vehicle is not locked, the locking operation is executed, and if the unmanned aerial vehicle is locked, the locking application fails. According to the invention, MD5 double encryption and serial number judgment are adopted, so that the security of instruction transmission is enhanced, and correct instructions are ensured to be executed safely and orderly.

Description

Technical Field

[0002] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a method for verifying remote control instructions of an unmanned aerial vehicle, a remote control device, and a storage medium. Background Art

[0003] With the rise of the low-altitude economy, the number of unmanned aerial vehicles operating in the low-altitude airspace has increased significantly, and the application scenarios have gradually become mature and stable. In particular, scenarios such as unmanned aerial vehicle logistics distribution and unmanned aerial vehicle inspection and patrol have become benchmark scenarios for low-altitude applications. In such scenarios, the operation range of the unmanned aerial vehicle is large. Based on the remote controller connecting to the flight control of the unmanned aerial vehicle for instruction transmission, the remote controller and the unmanned aerial vehicle communicate using 2.4 GHz or 5.8 GHz radio frequency signals. In the case of unobstructed line of sight, the maximum effective distance is 7 KM. Due to the obstruction of high-rise buildings in the city, signal transmission interference inevitably occurs. The current mature solution is to use the 4G|5G network to transmit the remote control instructions of the unmanned aerial vehicle through MQTT or Socket. During the normal operation of the unmanned aerial vehicle, a remote beyond-visual-line-of-sight pilot is required to monitor the operation of multiple unmanned aerial vehicles at the same time. The remote beyond-visual-line-of-sight pilot issues route task coordinate data, takeoff, hover, return, stop task, displacement operation (operating the unmanned aerial vehicle to move up, down, left, and right to avoid obstacles), and load device operations such as pan-tilt control: infrared and visible light lens switching, zoom setting for magnification and reduction, video recording, and photographing instructions to the unmanned aerial vehicle through the control terminal via the server. The unmanned aerial vehicle uploads the instruction execution status and its own attitude and position data to the server side.

[0004] The data transmission of the unmanned aerial vehicle is exposed on the network and there is a risk of being maliciously manipulated, thus resulting in public safety accidents; there are multiple remote beyond-visual-line-of-sight pilots in a unmanned aerial vehicle operation center controlling multiple unmanned aerial vehicles, and there may be a situation where the remote beyond-visual-line-of-sight pilot issues incorrect instructions to the unmanned aerial vehicle side; the signal strength of the 4G|5G network depends on the density of the base stations. In the case of fewer base stations, there may be a situation where the instruction transmission fails, resulting in the disorder of the instruction execution sequence.

[0005] Some solutions, such as using the RSA algorithm to encrypt and decrypt instructions, but the RSA algorithm has the defect of high encryption algorithm complexity and does not support encryption and decryption in the case of a large amount of instruction data. For example, there will be a delay in the processing of high-frequency instructions such as displacement operations, and the public-private key pair is not suitable for the scenario where the pilot and the unmanned aerial vehicle are frequently replaced when generated frequently. Summary of the Invention

[0006] The main purpose of the present invention is to provide a method for verifying remote control instructions of an unmanned aerial vehicle, a remote control device, and a storage medium, aiming to solve the above technical problems.

[0007] To achieve the above purpose, the present invention provides a method for verifying remote control instructions of an unmanned aerial vehicle.

[0008] The method for verifying the remote control instruction of the drone includes the following steps: Obtain a locking application instruction, which includes a unique activation code, a controller number, the number of the drone to be locked, and a timestamp; Verify whether the activation code in the locking application instruction is valid; After the activation code verification passes, check whether the currently applied drone is already locked; If the current drone is not locked, perform the locking operation. If the drone is already locked, the current locking application fails.

[0009] In one embodiment, after the step of obtaining the locking application instruction, the method for verifying the remote control instruction of the drone further includes: Generate a communication token for this time according to the locking application instruction. Combine the unique activation code, the controller number, the number of the drone to be locked, and the timestamp into a string, and then encrypt it through MD5 to obtain an encrypted token; Synchronously send the encrypted token to the client and the drone.

[0010] In one embodiment, the method for verifying the remote control instruction of the drone further includes: Obtain the issued route task instruction, takeoff instruction, or hover instruction and send it to the drone; Store the issued route task instruction, takeoff instruction, or hover instruction.

[0011] In one embodiment, after the step of obtaining the issued route task instruction, takeoff instruction, or hover instruction and sending it to the drone, the method further includes: After forwarding the instruction to the drone, monitor and wait for the instruction execution status. If the message indicating successful receipt of the instruction by the drone is not received before the task execution deadline, set the instruction to invalid.

[0012] In one embodiment, the step of obtaining the issued route task instruction, takeoff instruction, or hover instruction and sending it to the drone includes: Obtain the instruction sequence number base according to the last digit of the encrypted token. Integrate the instruction sequence number base and the encrypted token and then encrypt them through MD5 to generate a verification code.

[0013] In one embodiment, the method further includes: If the drone receives the action instruction for the first time and the instruction sequence number is equal to the instruction sequence number base, then confirm the instruction verification code according to the received instruction. Concatenate the communication token and the instruction sequence number and then perform MD5 encryption processing. Compare the obtained string with the value of the verification code field; If the comparison is not successful, according to whether the check code in the comparison instruction is normal, if the comparison fails, discard the instruction and record the number of abnormal instructions.

[0014] In addition, to achieve the above object, the present invention also provides a remote control device for verifying unmanned aerial vehicle (UAV) remote control instructions. The remote control device for verifying UAV remote control instructions includes: a memory, a processor, and a UAV remote control instruction verification program stored on the memory and executable on the processor. When the UAV remote control instruction verification program is executed by the processor, the steps of the UAV remote control instruction verification method as described above are implemented.

[0015] In addition, to achieve the above object, the present invention also provides a computer-readable storage medium. A UAV remote control instruction verification program is stored on the computer-readable storage medium. When the UAV remote control instruction verification program is executed by a processor, the steps of the UAV remote control instruction verification method as described above are implemented. The beneficial effects that the present invention can achieve: A method for verifying UAV remote control instructions proposed in an embodiment of the present invention obtains a lock application instruction. The lock application instruction includes a unique activation code, a controller number, a UAV number for which the lock is applied, and a timestamp; verifies whether the activation code in the lock application instruction is valid; after the activation code verification passes, checks whether the currently applied UAV has been locked; if the current UAV is not locked, perform a locking operation, and if the UAV has been locked, the current lock application fails. The present invention uses MD5 double encryption and the judgment of serial numbers to strengthen the security of instruction transmission, ensuring the safe and orderly execution of correct instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of a remote control device in a hardware operating environment related to the solution of an embodiment of the present invention; Figure 2 is a schematic flowchart of the method for verifying UAV remote control instructions of the present invention.

[0017] The realization, functional characteristics, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] As Figure 1 shown, Figure 1 is a schematic structural diagram of a terminal in a hardware operating environment related to the solution of an embodiment of the present invention.

[0020] The terminal in the embodiments of the present invention may be a PC, or a mobile terminal remote control device with a display function such as a smart phone, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III) player, an MP4 (Moving Picture Experts Group Audio Layer IV) player, a portable computer, a drone remote control device, etc.

[0021] As shown in Figure 1 the figure, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to implement the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0022] Optionally, the terminal may further include a camera, an RF (Radio Frequency) circuit, sensors, an audio circuit, a WiFi module, etc. Among them, the sensors include, for example, a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. Among them, the ambient light sensor can adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor can turn off the display screen and / or the backlight when the mobile terminal moves to the ear. As a kind of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in all directions (generally three axes), and can detect the magnitude and direction of gravity when stationary, and can be used for applications that identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as a pedometer, tapping), etc.; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be elaborated here.

[0023] Those skilled in the art can understand that Figure 1 the terminal structure shown in does not limit the terminal, and it may include more or fewer components than shown in the figure, or combine some components, or arrange different components.

[0024] As shown in Figure 1 FIG. [FIGURE NUMBER], the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a UAV remote control instruction verification program.

[0025] In the Figure 1 terminal shown in FIG. [FIGURE NUMBER], the network interface 1004 is mainly used to connect to the background server and communicate with the background server for data; the user interface 1003 is mainly used to connect to the client (user side) and communicate with the client for data; and the processor 1001 can be used to call the UAV remote control instruction verification program stored in the memory 1005 and perform the following operations: Obtain a lock application instruction, where the lock application instruction includes a unique activation code, a controller number, a UAV number to be locked, and a timestamp; Verify whether the activation code in the lock application instruction is valid; After the activation code verification passes, check whether the currently applied UAV has been locked; If the current UAV is not locked, perform the locking operation; if the UAV has been locked, the current lock application fails.

[0026] Further, the processor 1001 can call the UAV remote control instruction verification program stored in the memory 1005 and also perform the following operations: Generate a communication token for this time according to the lock application instruction, form a string with the unique activation code, the controller number, the UAV number to be locked, and the timestamp, and then encrypt it through MD5 to obtain an encrypted token; Synchronously send the encrypted token to the client and the UAV.

[0027] Further, the processor 1001 can call the UAV remote control instruction verification program stored in the memory 1005 and also perform the following operations: Obtain the issued route task instruction, takeoff instruction, or hover instruction and send it to the UAV; Store the issued route task instruction, takeoff instruction, or hover instruction.

[0028] Further, the processor 1001 can call the UAV remote control instruction verification program stored in the memory 1005 and also perform the following operations: After forwarding the instruction to the UAV, monitor and wait for the instruction execution status. If a message indicating successful receipt of the UAV instruction is not received before the task execution deadline, set the instruction to invalid.

[0029] Further, the processor 1001 may call the UAV remote control instruction verification program stored in the memory 1005 and further perform the following operations: Obtain the instruction sequence number base according to the last digit of the encryption token, integrate the instruction sequence number base and the encryption token, and generate a verification code through MD5 encryption.

[0030] Further, the processor 1001 may call the UAV remote control instruction verification program stored in the memory 1005 and further perform the following operations: If the UAV receives the action instruction for the first time and the instruction sequence number is equal to the instruction sequence number base, then confirm the instruction verification code according to the received instruction, splice the communication token and the instruction sequence number and perform MD5 encryption processing, and compare the obtained string with the verification code field value; If the comparison is not successful, check whether the verification code in the comparison instruction is normal. If the comparison fails, discard the instruction and record the number of abnormal instructions. The specific embodiments of the present invention applying the data storage remote control device are basically the same as those of the following embodiments of the UAV remote control instruction verification method, and will not be elaborated here.

[0031] Refer to Figure 2 , the first embodiment of the present invention provides a UAV remote control instruction verification method, and the UAV remote control instruction verification method includes: Obtain a lock application instruction, where the lock application instruction includes a unique activation code, a controller number, a UAV number to be locked, and a timestamp; Verify whether the activation code in the lock application instruction is valid; After the activation code verification passes, check whether the currently applied UAV has been locked; If the current UAV is not locked, perform the locking operation. If the UAV has been locked, the current lock application fails.

[0032] Content of the lock application instruction request: { 'Controler_SN': '6F9619FF-8B86-D011', / / Activation code of the client software, unique 'Driver_Num': '123122121', / / Pilot number 'Uav_Num': 'U551212', / / UAV number to be controlled 'Time_Stamp': 1740971053000 / / Timestamp to milliseconds }; After receiving the UAV locking request, verify whether the activation code of the control terminal is valid. After the activation code of the control terminal is verified, next, check whether the currently applied UAV has been locked. If the current UAV is not locked, perform the locking operation. If the UAV has been locked, the current locking application fails.

[0033] Generate the communication token for this time according to the content of the locking request. Combine Controler_SN + Driver_Num + Uav_Num + Time_Stamp into a string, and then encrypt it through MD5 to obtain the encrypted token.

[0034] The time stamp in the plain text string has a unique feature up to milliseconds. The 32-bit communication token after MD5 encryption is: 2796b1e03e42b630696c786e6061d6ed. The above information ensures the uniqueness of the ciphertext after MD5 encryption. Among them, the last digit of the communication token is the instruction sequence number base.

[0035] Synchronously send the communication token to the client and the UAV. After receiving the communication token, the control terminal and the UAV store and save it, and the server does not save the communication token anymore.

[0036] The control relationship stored by the server is the flyer number Driver_Num: UAV number Uav_Num. The server maintains the communication channels between the control terminal and the server, and between the server and the UAV terminal.

[0037] The remote beyond-visual-line-of-sight flyer sends instructions such as route task distribution, takeoff, and hovering to the UAV through the server. The server needs to store each instruction information and instruction status Furthermore, the remote beyond-visual-line-of-sight flyer sends instructions such as route task distribution, takeoff, and hovering to the UAV through the server. The server needs to store each instruction information and instruction status. The verification code is token + instruction sequence number.

[0038] Exemplarily, if the last digit of the communication token 2796b1e03e42b630696c786e6061d6ed is 6, then the instruction sequence number base is 6 (the instruction sequence number is random and cannot be predicted). Therefore, the first instruction sequence number is 00006, and the sequence number of the second instruction is 00012.

[0039] Specifically: The flyer sends to the server: { 'driver_num': '123122121', / / Flyer number 'uav_num': 'U551212', / / UAV number applied for control 'cmd': 'takeoff', / / Instruction code 'cmd_id': '00006', / / Instruction serial number, five - digit length 'deadline':1740982327236, / / Deadline for task execution, usually 2s from the current time 'token': '4d9e82139706bdd573f72e5b4c120688' / / Verification code MD5(communication token + instruction serial number)} The server forwards it to the drone: { 'cmd': 'takeoff' / / Instruction code 'cmd_id': '00006' / / Instruction serial number, five - digit length, 'token': '4d9e82139706bdd573f72e5b4c120688' / / Verification code MD5(communication token + instruction serial number) } After the step of obtaining the issued route task instruction, takeoff instruction or hover instruction and sending it to the drone, the method further includes: After forwarding the instruction to the drone, listen for the instruction execution status. If the message indicating successful receipt of the instruction by the drone has not been received before the task execution deadline, set the instruction to invalid.

[0040] Furthermore, the following verification can be performed on the instruction: First, if the drone receives the action instruction for the first time and the instruction serial number is equal to the instruction serial number base * 1, then confirm the instruction verification code according to the received instruction. Concatenate the communication token 2796b1e03e42b630696c786e6061d6ed and the instruction serial number and perform MD5 encryption. Compare the obtained string with the value of the token field.

[0041] Second, if the drone has received the operation instruction not for the first time, use the communication token to concatenate the previous executed instruction serial number plus the instruction serial number base and perform MD5 operation, then compare it with the token value. If the comparison is consistent, execute the current instruction normally and return a message indicating successful receipt of the instruction to the server.

[0042] Third, if the comparison fails, check whether the token in the comparison instruction in the first step is normal according to the first step. If the comparison fails, discard the instruction and record the number of abnormal instructions.

[0043] If the number of abnormal instructions reaches 3 times, the drone needs to perform a communication token update operation. The drone notifies the client of the remote beyond visual line of sight (BVLOS) pilot through the server to perform the communication token update operation. Before receiving the communication token update instruction, it enters a self-protection state, no longer executes new instructions, and only executes according to the original route task plan.

[0044] Fourth, if the comparison instruction token in the first step is successful, actively pull the lost instruction information (instructions lost due to network factors). Assume that the serial number of the last executed instruction is 00006, and the currently received instruction serial number is 00024. The drone actively pulls the instructions corresponding to 00012 and 00018 from the server.

[0045] Fifth, if the instructions corresponding to the drone instruction serial numbers 00012 and 00018 recorded by the server are normal and not expired instructions, then send the instruction content to the drone side. After the instruction verification passes, execute the instructions 00012, 00018, and 00024 in sequence.

[0046] Sixth, if the instructions 00012 and 00018 recorded by the server are expired instructions, then the drone directly executes the instruction 00024.

[0047] Furthermore, the remote BVLOS pilot monitors the operation of each drone on the control end, and sends various instructions to the corresponding drone according to the actual situation. The serial number of each instruction increases by an instruction serial number base on the basis of the previous instruction.

[0048] If a communication token update request sent by the drone side is received, it is necessary to respond to the communication token update operation.

[0049] If it is detected that an instruction has expired, determine whether to reissue the instruction to the drone side according to the actual situation.

[0050] After the drone flight mission is completed, the drone lock is automatically released, and the control end and the drone will automatically clear the communication token It should be noted that those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described device and each module can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0051] In addition, an embodiment of the present invention also proposes a computer-readable storage medium, on which a drone remote control instruction verification program is stored. When the drone remote control instruction verification program is executed by a processor, the following operations are implemented: Obtain a lock application instruction, where the lock application instruction includes a unique activation code, a controller number, a drone number for which the lock is applied, and a timestamp; Verify whether the activation code in the lock application instruction is valid; After the activation code verification passes, check whether the currently applied drone has been locked; If the current drone is not locked, perform the locking operation. If the drone has been locked, the current locking application fails.

[0052] Furthermore, when the drone remote control instruction verification program is executed by the processor, the following operations are also implemented: Generate a communication token for this time according to the locking application instruction, form a string by combining the unique activation code, the controller number, the drone number to be locked, and the timestamp, and then encrypt it through MD5 to obtain an encrypted token; Synchronously send the encrypted token to the client and the drone.

[0053] Furthermore, when the drone remote control instruction verification program is executed by the processor, the following operations are also implemented: Obtain the issued route task instruction, takeoff instruction or hover instruction and send it to the drone; Store the issued route task instruction, takeoff instruction or hover instruction.

[0054] Furthermore, when the drone remote control instruction verification program is executed by the processor, the following operations are also implemented: After forwarding the instruction to the drone, listen for the instruction execution status. If the message indicating successful receipt of the instruction by the drone is not received before the task execution deadline, set the instruction to invalid.

[0055] Furthermore, when the drone remote control instruction verification program is executed by the processor, the following operations are also implemented: Obtain the instruction sequence number base according to the last digit of the encrypted token, and generate a verification code after integrating the instruction sequence number base and the encrypted token and encrypting them through MD5.

[0056] Furthermore, when the drone remote control instruction verification program is executed by the processor, the following operations are also implemented: If the drone receives the action instruction for the first time and the instruction sequence number is equal to the instruction sequence number base, confirm the instruction verification code according to the received instruction, splice the communication token and the instruction sequence number and perform MD5 encryption processing, and compare the obtained string with the verification code field value; If the comparison is not successful, check whether the verification code in the comparison instruction is normal. If the comparison fails, discard the instruction and record the number of abnormal instructions. The specific embodiments of the computer-readable storage medium of the present invention are basically the same as those of the above-mentioned application software security vulnerability detection method embodiments, and will not be elaborated here.

[0057] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or system comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or system comprising such element.

[0058] The serial numbers of the above embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0059] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions to enable a remote control device (which can be a mobile phone, computer, server, etc.) to execute the methods described in the various embodiments of the present invention.

[0060] The above are only the preferred embodiments of the present invention and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A method for verifying remote control instructions of a drone, characterized in that, The method for verifying the remote control instruction of the unmanned aerial vehicle (UAV) includes the following steps: Obtain a lock application instruction, which includes a unique activation code, a controller number, a UAV number to be locked, and a timestamp; Verify whether the activation code in the lock application instruction is valid; After the activation code verification passes, check whether the currently applied UAV has been locked; If the current UAV is not locked, perform the locking operation. If the UAV has been locked, the current lock application fails.

2. The method for verifying an unmanned aerial vehicle remote control instruction according to claim 1, wherein After the step of obtaining the lock application instruction, the method for verifying the remote control instruction of the UAV further includes: Generate a communication token for this time according to the lock application instruction. Combine the unique activation code, the controller number, the UAV number to be locked, and the timestamp into a string, and then encrypt it through MD5 to obtain an encrypted token; Synchronously send the encrypted token to the client and the UAV.

3. The method for verifying a remote control instruction of a drone according to claim 2, wherein The method for verifying the remote control instruction of the UAV further includes: Obtain a flight route task instruction, a takeoff instruction, or a hover instruction sent down and send them to the UAV; Store the flight route task instruction, takeoff instruction, or hover instruction sent down.

4. The method for verifying the remote control instruction of the unmanned aerial vehicle according to claim 3, characterized in that, After the step of obtaining the flight route task instruction, takeoff instruction, or hover instruction sent down and sending them to the UAV, the method further includes: After forwarding the instruction to the UAV, monitor and wait for the instruction execution status. If a message indicating successful reception of the instruction by the UAV is not received before the task execution deadline, set the instruction to invalid.

5. The method for verifying a remote control instruction of a drone according to claim 3, wherein, The step of obtaining the flight route task instruction, takeoff instruction, or hover instruction sent down and sending them to the UAV includes: Obtain the instruction sequence number base according to the last digit of the encrypted token. Integrate the instruction sequence number base and the encrypted token and then encrypt them through MD5 to generate a verification code.

6. The method for verifying a remote control instruction of a drone according to claim 5, wherein The method further includes: If the UAV receives the function instruction for the first time and the instruction sequence number is equal to the instruction sequence number base, confirm the instruction verification code according to the received instruction. Concatenate the communication token and the instruction sequence number and then perform MD5 encryption processing. Compare the obtained string with the verification code field value; If the comparison is not successful, check whether the verification code in the comparison instruction is normal. If the comparison fails, discard the instruction and record the number of abnormal instructions.

7. A remote control device for verifying remote control instructions of an unmanned aerial vehicle, characterized in that, The remote control device for verifying the UAV remote control instruction includes: a memory, a processor, and a UAV remote control instruction verification program stored on the memory and executable on the processor. When the UAV remote control instruction verification program is executed by the processor, it implements the steps of the method for verifying the UAV remote control instruction according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, A computer-readable storage medium stores a UAV remote control instruction verification program. When the UAV remote control instruction verification program is executed by a processor, it implements the steps of the method for verifying the UAV remote control instruction according to any one of claims 1 to 6.

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