Unmanned aerial vehicle false broadcast message identification method and system based on radio time difference positioning

Abstract

The invention discloses an unmanned aerial vehicle false broadcast message identification method and system based on radio time difference positioning, and the method comprises the steps: an unmanned aerial vehicle periodically broadcasts remote identification message signals according to the national standard, and at least four radio detection stations receive and store radio signals at the same time and mark timestamps; the method comprises the following steps: respectively detecting whether an unmanned aerial vehicle remotely identifies a message signal, when the message signal is detected, analyzing an unmanned aerial vehicle unique identification code and position information in the message, and meanwhile, classifying observation information of each radio detection station based on the unmanned aerial vehicle unique identification code, grouping and sorting according to a timestamp, and carrying out multi-station time difference positioning, so as to realize multi-station time difference positioning. And finally, the unmanned aerial vehicle observation track information is determined from the dimensions of positioning, track and the like and a combination sequence, so that the resource overhead can be effectively reduced, and the determination efficiency is improved. The method has the technical characteristic of identifying the false broadcast message of the unmanned aerial vehicle, and is favorable for supporting the construction of a low-altitude economic airspace target management and control system.

Description

Technical Field

[0001] The present invention relates to the technical field of false message identification for low-altitude economy drones, and particularly to a method and system for identifying false broadcast messages of drones based on radio time difference of arrival (TDOA, Time Difference of Arrival). Background Art

[0002] With the rapid development of the low-altitude economy, drones are increasingly widely used in fields such as logistics, inspection, and agriculture. According to the national standard GB 42590-2023 "Safety Requirements for Civil Unmanned Aerial Vehicle Systems", when light and small unmanned aerial vehicles conduct flight activities, they should actively report identification information to the integrated supervision service platform through the network. Unmanned aerial vehicles should automatically broadcast identification information through wireless local area network (Wi-Fi) or Bluetooth during flight. However, some drones will broadcast false messages to evade supervision.

[0003] In the prior art, the identification methods for false messages mostly rely on single-dimensional criteria. For example, by comparing whether the coverage range of the drone's broadcast position and the received signal strength of the ground base station match, but this method is easily affected by environmental factors such as signal attenuation and multipath effects, and the misjudgment rate is relatively high; predicting the drone's movement trend based on historical trajectories, but it is difficult to respond to dynamically forged broadcast data in real time, and the computational complexity is high; relying on encryption algorithms to ensure the authenticity of messages, but it cannot cope with protocol cracking or malicious tampering.

[0004] Therefore, there is an urgent need for an efficient and low-cost false message identification method to improve the discrimination accuracy and real-time performance through multi-dimensional collaborative determination. Summary of the Invention

[0005] In order to overcome the deficiencies in the above prior art, the present invention provides a method and system for identifying false broadcast messages of drones based on radio time difference of arrival, which realizes the efficient identification of false messages through multi-station time difference of arrival (TDOA) and trajectory movement trend analysis.

[0006] In order to achieve the above invention purpose, the technical solution adopted to solve its technical problems is as follows:

[0007] The present invention discloses a method for identifying false broadcast messages of drones assisted by radio time difference of arrival, which is characterized by including the following steps:

[0008] Step S1: The drone broadcasts remote identification message signals periodically according to the national standard. At least four radio detection stations simultaneously receive and save the radio signals and mark timestamps, and respectively detect whether there are drone remote identification message signals;

[0009] Step S2: When a message signal is detected, parse the unique identification code and location information of the UAV in the message. At the same time, classify the observation information of each radio detection station based on the unique identification code of the UAV, group and sort it by timestamp, perform multi-station time difference positioning, and then form the UAV observation trajectory information;

[0010] Step S3: Judge whether the UAV broadcast message is a false message according to the positioning information. If the deviation between the estimated position of the time difference positioning and the parsed position is greater than 3 times the positioning accuracy of the time difference positioning system, it is determined that the UAV broadcast message is a false message; otherwise, go to Step S4 for judgment;

[0011] Step S4: Judge whether the UAV broadcast message is a false message according to the positioning trajectory. Based on the UAV message parsing, obtain the UAV broadcast trajectory. If the movement trends of the observation trajectory and the broadcast trajectory are inconsistent, it is determined that the UAV broadcast message is a false message; otherwise, it is determined that the UAV broadcast message is a true message.

[0012] Further, the said Step S1:

[0013] The UAV broadcasts a remote identification message signal according to the national standard. The message includes a message header, a unique identification code of the UAV, and real-time location information;

[0014] The radio detection stations are time-synchronized with each other;

[0015] The radio detection stations receive and save radio signals and mark timestamps;

[0016] The radio detection stations perform message detection according to the message header.

[0017] Further, the radio detection stations adopt satellite time synchronization. Specifically, the radio detection stations adopt network time synchronization.

[0018] Further, the said Step S2:

[0019] The radio detection stations have the ability to parse communication protocols and parse the unique identification code and real-time location information of the UAV in the message;

[0020] Collect the observation data of each radio detection station in real time, and classify the observation data according to the unique identification code of the UAV;

[0021] The classified data is grouped by timestamp and sorted in chronological order;

[0022] Combine the location of the detection station and each group of observation data to perform UAV time difference positioning and obtain the UAV observation location;

[0023] Filter the UAV observation location to obtain the observation trajectory.

[0024] The present invention discloses a system for identifying false broadcast messages of unmanned aerial vehicles assisted by radio time difference positioning, which is characterized in that the method for identifying false broadcast messages of unmanned aerial vehicles assisted by radio time difference positioning in claims 1-4 above is used for false message identification, including at least one unmanned aerial vehicle, at least four radio detection stations and at least one server, wherein:

[0025] The unmanned aerial vehicle broadcasts a remote identification message signal periodically according to national standards;

[0026] The radio detection stations adopt satellite time synchronization, receive and save radio signals simultaneously and mark time stamps, and respectively detect whether there is a remote identification message signal of an unmanned aerial vehicle. When a message signal is detected, the unique identification code and position information of the unmanned aerial vehicle in the message are parsed;

[0027] The server receives the observation data reported by each radio detection station, classifies the observation information of each radio detection station based on the unique identification code of the unmanned aerial vehicle, groups and sorts them according to the time stamp, performs time difference positioning of the unmanned aerial vehicle by combining the position of the detection station and each group of observation data, filters the obtained observation position of the unmanned aerial vehicle to obtain the observation trajectory of the unmanned aerial vehicle;

[0028] Judge whether the broadcast message of the unmanned aerial vehicle is a false message according to the positioning information. If the deviation between the estimated position of the time difference positioning and the parsed position is greater than 3 times the positioning accuracy of the time difference positioning system, it is determined that the broadcast message of the unmanned aerial vehicle is a false message. Otherwise, judge whether the broadcast message of the unmanned aerial vehicle is a false message according to the positioning trajectory. Based on the parsing of the unmanned aerial vehicle message, the broadcast trajectory of the unmanned aerial vehicle is obtained. If the movement trends of the observation trajectory and the broadcast trajectory are inconsistent, it is determined that the broadcast message of the unmanned aerial vehicle is a false message. Otherwise, it is determined that the broadcast message of the unmanned aerial vehicle is a true message.

[0029] Due to the above technical solutions, the present invention has the following advantages and positive effects compared with the prior art:

[0030] 1. Utilize the radio time difference positioning technology to receive and observe the broadcast identification message signal of the unmanned aerial vehicle, and jointly design a method for identifying false broadcast messages of unmanned aerial vehicles assisted by radio time difference positioning from dimensions such as positioning and trajectory based on the observation information;

[0031] 2. Through the combined sequential determination, the resource overhead can be effectively reduced, the discrimination efficiency can be improved, and it has the technical characteristics of identifying false broadcast messages of unmanned aerial vehicles, which is beneficial to supporting the construction of the low-altitude economic airspace target management and control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings. In the accompanying drawings:

[0033] Figure 1 Schematic flow chart of a method for identifying false broadcast messages of unmanned aerial vehicles assisted by radio time difference positioning according to the present invention;

[0034] Figure 2 Block diagram of a system for identifying false broadcast messages of unmanned aerial vehicles assisted by radio time difference positioning according to the present invention. Detailed implementation manners

[0035] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0036] Embodiment 1

[0037] As Figure 1 shown, the present invention discloses a method for identifying false broadcast messages of unmanned aerial vehicles assisted by radio time difference positioning, including the following steps:

[0038] Step S1: The unmanned aerial vehicle broadcasts a remote identification message signal periodically according to national standards. At least four radio detection stations simultaneously receive and save the radio signals and mark the timestamps, and respectively detect whether there is a remote identification message signal of the unmanned aerial vehicle;

[0039] Step S2: When the message signal is detected, the unique identification code and position information of the unmanned aerial vehicle in the message are parsed. At the same time, based on the unique identification code of the unmanned aerial vehicle, the observation information of each radio detection station is classified, grouped and sorted according to the timestamp, and multi-station time difference positioning is performed. Furthermore, the observation trajectory information of the unmanned aerial vehicle is formed;

[0040] Step S3: According to the positioning information, it is judged whether the broadcast message of the unmanned aerial vehicle is a false message. If the deviation between the estimated position of the time difference positioning and the parsed position is greater than 3 times the positioning accuracy of the time difference positioning system, it is determined that the broadcast message of the unmanned aerial vehicle is a false message. Otherwise, it proceeds to step S4 for judgment;

[0041] Step S4: Determine whether the UAV broadcast message is a false message according to the positioning trajectory. Based on the UAV message parsing, obtain the UAV broadcast trajectory. If the movement trends of the observed trajectory and the broadcast trajectory are inconsistent, determine that the UAV broadcast message is a false message; otherwise, determine that the UAV broadcast message is a true message.

[0042] Further, in step S1, the UAV broadcasts a remote identification message signal according to national standards. The message includes a message header, a unique UAV identification code, and real-time position information; the radio detection stations are time-synchronized with each other; the radio detection stations receive and save radio signals and mark time stamps; the radio detection stations perform message detection according to the message header.

[0043] Further, the radio detection stations use satellite time synchronization. Specifically, the radio detection stations use network time synchronization.

[0044] Further, in step S2, the radio detection stations have the ability to parse communication protocols, and parse out the unique UAV identification code and real-time position information in the message; collect the observation data of each radio detection station in real time, classify the observation data according to the unique UAV identification code; group the classified data according to time stamps and sort them in chronological order; perform UAV time difference positioning by combining the positions of the detection stations and each group of observation data to obtain the observed positions of the UAVs; perform Kalman filtering on the observed positions of the UAVs to obtain the observed trajectory.

[0045] Further, according to S3 to S4, determine whether the UAV broadcast message is true in sequence from dimensions such as positioning and trajectory.

[0046] Embodiment 2

[0047] As Figure 2 shown, the present invention also discloses a system for identifying false UAV broadcast messages assisted by radio time difference positioning, including at least one UAV, at least four radio detection stations, and at least one server, wherein:

[0048] The UAV broadcasts a remote identification message signal periodically according to national standards;

[0049] The radio detection stations use satellite time synchronization, and at the same time receive and save radio signals and mark time stamps, and respectively detect whether there is a UAV remote identification message signal. When a message signal is detected, the unique UAV identification code and position information in the message are parsed;

[0050] The server receives the observation data reported by each radio detection station, classifies the observation information of each radio detection station based on the unique identification code of the UAV, groups and sorts them according to the time stamp, combines the location of the detection station with each group of observation data for UAV time difference positioning, obtains the observed position of the UAV for filtering, and obtains the observed trajectory of the UAV.

[0051] Judge whether the UAV broadcast message is a false message according to the positioning information. If the deviation between the estimated position of the time difference positioning and the parsed position is greater than 3 times the positioning accuracy of the time difference positioning system, it is determined that the UAV broadcast message is a false message. Otherwise, judge whether the UAV broadcast message is a false message according to the positioning trajectory. Based on the UAV message parsing, obtain the UAV broadcast trajectory. If the movement trends of the observed trajectory and the broadcast trajectory are inconsistent, it is determined that the UAV broadcast message is a false message. Otherwise, it is determined that the UAV broadcast message is a true message.

[0052] As mentioned above, it is only a preferred specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for identifying false broadcast messages of unmanned aerial vehicles based on radio time difference positioning, characterized in that, It includes the following steps: Step S1: The drone periodically broadcasts a remote identification message signal according to the national standard. The message signal includes the unique identification code of the drone and real-time position information; At least four radio detection stations synchronously receive the message, mark the reception timestamp, and respectively detect whether there is a drone remote identification message signal; Step S2: When the message signal is detected, the unique identification code of the drone and the position information in the message are parsed. At the same time, based on the unique identification code of the drone, the observation information of each radio detection station is classified, grouped and sorted according to the timestamp, and multi-station time difference positioning is performed to generate a drone observation position sequence and form drone observation trajectory information; Step S3: Calculate the spatial deviation between the observation position generated by time difference positioning and the parsed message position. If the deviation is greater than 3 times the positioning accuracy of the time difference positioning system, it is determined that the drone broadcast message is a false message. Otherwise, execute Step S4; Step S4: Judge whether the drone broadcast message is a false message according to the positioning trajectory. Based on the drone message parsing, the drone broadcast trajectory is obtained. If the movement trends of the observation trajectory and the broadcast trajectory are inconsistent, it is determined that the drone broadcast message is a false message. Otherwise, it is determined that the drone broadcast message is a true message.

2. The method for identifying false broadcast messages of an unmanned aerial vehicle assisted by radio time difference positioning according to claim 1, wherein The said Step S1: The drone broadcasts a remote identification message signal according to the national standard. The message includes a message header, the unique identification code of the drone, and real-time position information; The radio detection stations are time-synchronized with each other; The radio detection stations receive and save radio signals and mark timestamps; The radio detection stations perform message detection according to the message header.

3. The time synchronization between the radio detection stations according to claim 2, characterized in that, The radio detection stations adopt satellite time synchronization. Specifically, the radio detection stations adopt network time synchronization.

4. The method for identifying false broadcast messages of an unmanned aerial vehicle assisted by radio time difference positioning according to claim 1, wherein The said Step S2: The radio detection stations have the ability to parse communication protocols and parse the unique identification code of the drone and the real-time position information in the message; Collect the observation data of each radio detection station in real time and classify the observation data according to the unique identification code of the drone; The classified data is grouped according to the timestamp and sorted in chronological order; Combine the position of the detection station and the observation data of each group to perform drone time difference positioning to obtain the drone observation position; Filter the drone observation position to obtain the observation trajectory.

5. A false broadcast message recognition system for unmanned aerial vehicles assisted by radio time difference positioning, characterized in that, It includes: At least one drone, which is used to periodically broadcast a remote identification message signal according to the national standard; At least four radio detection stations, which adopt satellite time synchronization, simultaneously receive and save radio signals and mark timestamps, respectively detect whether there is a drone remote identification message signal, and when the message signal is detected, parse the unique identification code of the drone and the position information in the message; A server, which is used to receive the observation data reported by each radio detection station, execute the drone false broadcast message identification method as described in any one of claims 1-4, and complete the determination of false messages.

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