A method and system for identifying false broadcast messages from drones based on radio direction finding and positioning

Abstract

The present invention discloses a method and system for identifying false broadcast messages of unmanned aerial vehicles (UAVs) based on radio direction finding and positioning, comprising: the UAV periodically broadcasts a remote identification message signal according to national standards, a radio detection station receives the message signal, marks a timestamp, solves the message signal's incoming wave direction, and parses out the UAV's unique identification code and location information in the message; based on the UAV's unique identification code, the radio detection station observation data is classified, sorted by reception time and grouped by a certain time interval; each group of observation data is combined with the radio detection station's location information to perform UAV cross-positioning, thereby forming trajectory information; and finally, from the dimensions of distance (coverage), angle, positioning, trajectory, etc., the combined order is determined, which can effectively reduce resource overhead and improve discrimination efficiency. The present invention has the technical characteristics of identifying false broadcast messages of UAVs, which is conducive to supporting the construction of a low-altitude economic airspace target control system.

Description

Technical Field

[0001] The present invention relates to the technical field of low-altitude economical unmanned aerial vehicle (UAV) supervision, and in particular to a method and system for identifying false broadcast messages of UAVs based on radio direction finding (DF). Background Art

[0002] According to the national standard GB 42590-2023, "Safety Requirements for Civilian Unmanned Aircraft Systems," light and small unmanned aircraft must proactively report their identification information to the integrated regulatory service platform via the Internet during flight, such as automatically broadcasting identification information via wireless local area network (Wi-Fi) or Bluetooth. However, some drones may broadcast false information, such as forged locations or identification codes, to evade regulation, rendering airspace control ineffective and threatening low-altitude safety.

[0003] Currently, most methods for identifying false messages are based on a single dimension, such as relying solely on the matching of the message parsed location and physical distance, or judging coverage solely by signal strength. These methods have significant flaws: single-dimensional criteria are susceptible to environmental interference (such as signal attenuation and multipath effects), resulting in a high rate of false positives. Furthermore, multi-dimensional data does not form a collaborative judgment logic, requiring repeated computational resources and resulting in low efficiency. For example, if false messages are judged solely by distance, misjudgment may occur due to radio direction-finding positioning errors or signal propagation delays. Relying solely on trajectory analysis makes it difficult to respond to dynamically changing false signals in real time. Summary of the Invention

[0004] To overcome the low reliability and resource efficiency of single-dimensional criteria in the prior art, the present invention provides a method and system for identifying false broadcast messages from drones based on radio direction finding. By integrating multiple criteria, including distance coverage, incoming wave direction deviation, cross-positioning consistency, and trajectory motion trends, the system performs judgments in a logical order, prioritizing the exclusion of obvious abnormal data and gradually narrowing the scope of judgment. This method improves judgment accuracy and efficiency while reducing computing resource consumption, effectively supporting the real-time monitoring of drones in low-altitude economic airspace.

[0005] In order to achieve the above-mentioned purpose of the invention, the technical solutions adopted are as follows:

[0006] A method for identifying false broadcast messages of unmanned aerial vehicles based on radio direction finding positioning, characterized by comprising the following steps:

[0007] Step S1: The UAV periodically broadcasts a remote identification message signal according to national standards. The radio detection station receives the message signal, marks the time stamp, calculates the direction of the message signal, and parses the UAV's unique identification code and location information in the message;

[0008] Step S2: Based on the drone's unique identification code, the radio detection station observation data is classified, sorted by reception time, and grouped by a certain time interval. Each group of observation data is combined with the radio detection station location information to perform drone cross-positioning, thereby forming trajectory information;

[0009] Step S3: Determine whether the drone broadcast message is a false message based on the distance. Based on the analyzed location of the drone message, calculate the distance between the drone and the radio detection station. If the distance between the two is greater than three times the coverage range of the radio detection station, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S4 for further determination.

[0010] Step S4: Determine whether the drone broadcast message is a false message based on the incoming wave direction. Calculate the theoretical incoming wave direction of the radio detection station based on the drone message parsing position. If the theoretical incoming wave direction deviates from the incoming wave direction observed by the radio detection station by more than three times the angle measurement accuracy, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S5 for further determination.

[0011] Step S5: Determine whether the drone broadcast message is a false message based on the positioning information. If the deviation between the cross-positioning estimated position and the resolved position is greater than 3 times the positioning accuracy of the cross-positioning system, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S6 for judgment.

[0012] Step S6: Determine whether the drone broadcast message is a false message based on the positioning trajectory. Obtain the drone broadcast trajectory based on the drone message analysis. If the observed trajectory is inconsistent with the broadcast trajectory movement trend, the drone broadcast message is determined to be a false message. Otherwise, the drone broadcast message is determined to be a true message.

[0013] Furthermore, the step S1:

[0014] Drones periodically broadcast remote identification message signals according to national standards. The messages contain the drone's unique identification code and real-time location information.

[0015] The radio detection station has the ability to find the direction of the radio signal in two dimensions, and calculate the direction of the message signal, that is, the elevation angle and azimuth angle;

[0016] The radio detection station has the ability to parse the communication protocol and extract the drone's unique identification code and real-time location information in the message;

[0017] Radio detection stations are able to timestamp received signals.

[0018] Furthermore, the step S2:

[0019] The radio detection stations are time synchronized with each other and observe coordinate system one;

[0020] Collect observation data from various radio detection stations in real time and classify the observation data according to the unique identification code of the target drone;

[0021] The classified data are sorted by the time of receipt;

[0022] The categorized data are grouped at a certain time interval, with the observation data from 0.1 seconds forward and back to 1 second as one group;

[0023] Combine the detection station location with each set of observation data to perform cross-location of the target UAV and obtain the UAV observation position;

[0024] The UAV observation position is filtered to obtain the observation trajectory.

[0025] Furthermore, the radio detection stations are time-synchronized with each other, and are characterized in that the radio detection stations use satellite timing synchronization, and particularly, the radio detection stations use network timing synchronization.

[0026] The present invention discloses a radio direction finding and positioning-assisted UAV false broadcast message identification system for false message identification, comprising at least one UAV, at least two radio detection stations and at least one server, wherein:

[0027] The drone periodically broadcasts a remote identification message signal according to national standards;

[0028] The radio detection station uses satellite timing synchronization to receive message signals and mark time stamps, calculate the direction of the message signal, and parse the unique identification code and location information of the drone in the message;

[0029] The server receives observation data reported by each radio detection station, classifies the observation data of the radio detection station based on the unique identification code of the drone, sorts them by the time of receipt, and groups them by a certain time interval (observation data with an interval of 0.1 seconds forward and 1 second back is considered a group). Each group of observation data is combined with the position information of the radio detection station to perform drone cross-positioning and filter the drone observation position to obtain the observation trajectory;

[0030] Determine whether the drone broadcast message is a false message based on the distance. Based on the analyzed position of the drone message, calculate the distance between the drone and the radio detection station. If the distance between the two is greater than three times the coverage range of the radio detection station, the drone broadcast message is determined to be a false message. Otherwise, determine whether the drone broadcast message is a false message based on the direction of the incoming wave. Based on the analyzed position of the drone message, calculate the theoretical incoming wave direction of the radio detection station. If the deviation between the theoretical incoming wave direction and the incoming wave direction observed by the radio detection station is greater than three times the angle measurement accuracy, the drone broadcast message is determined to be a false message. Otherwise, determine whether the drone broadcast message is a false message based on the positioning information. If the deviation between the cross-positioning estimated position and the analyzed position is greater than three times the positioning accuracy of the cross-positioning system, the drone broadcast message is determined to be a false message. Otherwise, determine whether the drone broadcast message is a false message based on the positioning trajectory. Based on the drone message analysis, obtain the drone broadcast trajectory. If the observed trajectory and the broadcast trajectory have inconsistent motion trends, the drone broadcast message is determined to be a false message. Otherwise, determine that the drone broadcast message is a true message.

[0031] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art:

[0032] 1. Using radio direction finding positioning technology, we receive and observe the UAV broadcast identification message signals. Based on the observation information, we jointly design a radio direction finding-assisted UAV false broadcast message identification method based on distance (coverage), angle, positioning, trajectory, and other dimensions.

[0033] 2. Through combined sequence judgment, it can effectively reduce resource overhead and improve judgment efficiency. It has the technical characteristics of identifying false broadcast messages from drones, which is conducive to supporting the construction of low-altitude economic airspace target control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings:

[0035] Figure 1 This is a flow chart of a method for identifying false broadcast messages from unmanned aerial vehicles assisted by radio direction finding and positioning according to the present invention;

[0036] Figure 2 This is a block diagram of the composition of a radio direction finding and positioning-assisted UAV false broadcast message identification system of the present invention. DETAILED DESCRIPTION

[0037] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] Example 1

[0039] like Figure 1 As shown, this embodiment provides a method for identifying false broadcast messages of drones assisted by radio direction finding and positioning, including the following steps:

[0040] Step S1: The UAV periodically broadcasts a remote identification message signal according to national standards. The radio detection station receives the message signal, marks the time stamp, calculates the direction of the message signal, and parses the UAV's unique identification code and location information in the message;

[0041] Step S2: Based on the drone's unique identification code, the radio detection station observation data is classified, sorted by reception time, and grouped by a certain time interval. Each group of observation data is combined with the radio detection station location information to perform drone cross-positioning, thereby forming trajectory information;

[0042] Step S3: Determine whether the drone broadcast message is a false message based on the distance. Based on the analyzed location of the drone message, calculate the distance between the drone and the radio detection station. If the distance between the two is greater than three times the coverage range of the radio detection station, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S4 for further determination.

[0043] Step S4: Determine whether the drone broadcast message is a false message based on the incoming wave direction. Calculate the theoretical incoming wave direction of the radio detection station based on the drone message parsing position. If the theoretical incoming wave direction deviates from the incoming wave direction observed by the radio detection station by more than three times the angle measurement accuracy, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S5 for further determination.

[0044] Step S5: Determine whether the drone broadcast message is a false message based on the positioning information. If the deviation between the cross-positioning estimated position and the resolved position is greater than 3 times the positioning accuracy of the cross-positioning system, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S6 for judgment.

[0045] Step S6: Determine whether the drone broadcast message is a false message based on the positioning trajectory. Obtain the drone broadcast trajectory based on the drone message analysis. If the observed trajectory is inconsistent with the broadcast trajectory movement trend, the drone broadcast message is determined to be a false message. Otherwise, the drone broadcast message is determined to be a true message.

[0046] Furthermore, in step S1, the UAV periodically broadcasts a remote identification message signal according to national standards, and the message contains the UAV's unique identification code and real-time location information; the radio detection station has the ability to find the two-dimensional direction of the radio signal and calculate the direction of the message signal, that is, the pitch angle and azimuth angle; the radio detection station has the ability to parse the communication protocol and parse out the UAV's unique identification code and real-time location information in the message; the radio detection station can mark the timestamp of the received signal.

[0047] Furthermore, in step S2, the radio detection stations use satellite timing synchronization, are time-synchronized with each other, and observe the coordinate system as one; the observation data of each radio detection station are collected in real time, and the observation data are classified according to the unique identification code of the target UAV; the classified data are sorted in order of reception time; the classified data are grouped according to a certain time interval, and the observation data with an interval of 0.1 second forward and 1 second back are grouped as a group; the target UAV is cross-located by combining the detection station position with each group of observation data to obtain the UAV observation position; the UAV observation position is subjected to Kalman filtering to obtain the observation trajectory.

[0048] Furthermore, according to S3 to S6, the authenticity of the drone broadcast message is determined in sequence from the dimensions of distance, angle, positioning, trajectory, etc.

[0049] Example 2

[0050] like Figure 2 As shown, in this embodiment, a radio direction finding and positioning-assisted UAV false broadcast message identification system performs false message identification, including at least one UAV, at least two radio detection stations, and at least one server, wherein:

[0051] The drone periodically broadcasts a remote identification message signal according to national standards;

[0052] The radio detection station uses satellite timing synchronization to receive message signals and mark time stamps, calculate the direction of the message signal, and parse the unique identification code and location information of the drone in the message;

[0053] The server receives observation data reported by each radio detection station, classifies the observation data of the radio detection station based on the unique identification code of the drone, sorts them by the time of receipt, and groups them by a certain time interval (observation data with an interval of 0.1 seconds forward and 1 second back is considered a group). Each group of observation data is combined with the position information of the radio detection station to perform drone cross-positioning and filter the drone observation position to obtain the observation trajectory;

[0054] Determine whether the drone broadcast message is a false message based on the distance. Based on the analyzed position of the drone message, calculate the distance between the drone and the radio detection station. If the distance between the two is greater than three times the coverage range of the radio detection station, the drone broadcast message is determined to be a false message. Otherwise, determine whether the drone broadcast message is a false message based on the direction of the incoming wave. Based on the analyzed position of the drone message, calculate the theoretical incoming wave direction of the radio detection station. If the deviation between the theoretical incoming wave direction and the incoming wave direction observed by the radio detection station is greater than three times the angle measurement accuracy, the drone broadcast message is determined to be a false message. Otherwise, determine whether the drone broadcast message is a false message based on the positioning information. If the deviation between the cross-positioning estimated position and the analyzed position is greater than three times the positioning accuracy of the cross-positioning system, the drone broadcast message is determined to be a false message. Otherwise, determine whether the drone broadcast message is a false message based on the positioning trajectory. Based on the drone message analysis, obtain the drone broadcast trajectory. If the observed trajectory and the broadcast trajectory have inconsistent motion trends, the drone broadcast message is determined to be a false message. Otherwise, determine that the drone broadcast message is a true message.

[0055] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for identifying false broadcast messages from drones based on radio direction finding and positioning, characterized in that: The following steps are involved: Step S1: The drone periodically broadcasts a remote identification message signal containing the drone's unique identification code and real-time location information according to national standards; At least two radio detection stations receive the message signal, mark the time stamp, calculate the direction of arrival of the message signal, and parse the unique identification code and real-time location information of the drone in the message; Step S2: Classify the observation data of multiple radio detection stations according to the unique identification code of the drone and sort them in order by timestamp; group the classified observation data according to a certain time interval; combine the location information of the radio detection station, and perform drone cross-positioning on the observation data within each time interval to form drone observation trajectory information; Step S3: Determine whether the drone broadcast message is a false message based on the distance: Based on the analyzed location of the drone message, calculate the distance between the drone and the radio detection station. If the distance between the two is greater than three times the coverage range of the radio detection station, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S4. Step S4: Determine whether the drone broadcast message is a false message based on the direction of the incoming wave: Based on the analyzed position of the drone message, calculate the theoretical direction of the incoming wave from the radio detection station. If the deviation between the theoretical direction of the incoming wave and the direction of the incoming wave observed by the radio detection station is greater than three times the angle measurement accuracy, the drone broadcast message is determined to be a false message. Otherwise, proceed to step S5. Step S5: Determine whether the drone broadcast message is a false message based on the positioning information: compare the deviation between the cross-positioning estimated position and the message parsed position. If the deviation between the cross-positioning estimated position and the parsed position is greater than 3 times the positioning accuracy of the cross-positioning system, then the drone broadcast message is determined to be a false message. Otherwise, proceed to step S6. Step S6: Determine whether the drone broadcast message is a false message based on the positioning trajectory: The drone broadcast trajectory is obtained based on the drone message analysis. If the observed trajectory is inconsistent with the movement trend of the drone broadcast trajectory, the drone broadcast message is determined to be a false message. Otherwise, the drone broadcast message is determined to be a true message.

2. The method for identifying false broadcast messages of drones based on radio direction finding positioning according to claim 1, characterized in that: The radio detection station in step S1 has a two-dimensional direction finding capability for radio signals, and calculates the direction of the message signal, i.e., the elevation angle and the azimuth angle; The radio detection station has the ability to parse the communication protocol and parse out the drone's unique identification code and real-time location information in the message; the radio detection station can mark the received signal timestamp.

3. The method for identifying false broadcast messages of drones based on radio direction finding positioning according to claim 1, characterized in that: In step S2 The radio detection stations are time synchronized with each other and observe coordinate system one; Collect observation data from various radio detection stations in real time and classify the observation data according to the unique identification code of the target drone; The classified data are sorted by the time of receipt; The categorized data are grouped at a certain time interval, with the observation data from 0.1 seconds forward and back to 1 second as one group; Combine the detection station location with each set of observation data to perform cross-location of the target UAV and obtain the UAV observation position; The UAV observation position is filtered to obtain the observation trajectory.

4. The method for identifying false broadcast messages of drones based on radio direction finding positioning according to claim 3 is characterized in that: The radio detection station uses satellite timing synchronization.

5. The method for identifying false broadcast messages of drones based on radio direction finding and positioning according to claim 3 is characterized in that: The radio detection station uses network timing synchronization.

6. A UAV false broadcast message identification system based on radio direction finding positioning, characterized in that: include: At least one drone, used to periodically broadcast a remote identification message signal containing the drone's unique identification code and real-time location information in accordance with national standards; At least two radio detection stations, used to receive and analyze message signals, mark timestamps, calculate the direction of incoming waves, and extract the drone's unique identification code and location information; as well as At least one server is used to receive observation data reported by each radio detection station, execute the method for identifying false broadcast messages of drones based on radio direction finding positioning as described in any one of claims 1 to 5, complete false message determination, and output the determination result.

7. The UAV false broadcast message identification system based on radio direction finding positioning according to claim 6 is characterized in that: The radio detection stations are deployed at fixed sites or mobile vehicles in different geographical locations, and transmit data in real time with the server via encrypted communication links.

8. The UAV false broadcast message identification system based on radio direction finding positioning according to claim 6 is characterized in that: The server is equipped with a parallel computing module for parallel processing of observation data grouping, cross-positioning and trajectory filtering of multiple drone identification codes, supporting millisecond-level real-time monitoring of hundreds of drones.

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