Flight data processing method and device of unmanned aerial vehicle and electronic equipment

Abstract

The invention provides a flight data processing method and device for an unmanned aerial vehicle and electronic equipment, and relates to the technical field of communication, and the method comprises the steps: collecting the original flight data of the unmanned aerial vehicle through a sensor disposed on the unmanned aerial vehicle, and carrying out the calculation, denoising and smoothing of the original flight data, and obtaining the real-time flight data of the unmanned aerial vehicle; generating a flight data packet according with a specified format based on the real-time flight data, a specified unmanned aerial vehicle ID corresponding to the unmanned aerial vehicle and specified flight plan data; encrypting the flight data packet by using an SM4 block cipher algorithm to obtain flight ciphertext data; in response to detecting that the signal receiving power of the current network of the data recording equipment is greater than the specified power, transmitting the flight ciphertext data to a supervision server by using the current network; and in response to detection that the signal receiving power of the current network is lower than or equal to the specified power, switching a communication channel for transmitting the flight ciphertext data to a satellite short message communication channel.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, in particular to a flight data processing method and device of a UAV and an electronic device. BACKGROUND

[0002] Low-altitude airspace generally refers to airspace below 3000 meters. In order to protect aviation flight and key point safety, etc., no-fly zones and restricted flight zones are set according to relevant regulations. In addition to the low-altitude airspace, there are various types of aircraft such as general aviation manned aircraft, electric vertical take-off and landing aircraft (eVTOL), medium and large fixed-wing unmanned aerial vehicles, logistics unmanned aerial vehicles, helicopters, gyroplanes, model aircraft, etc. With the large-scale application of civil unmanned aerial vehicles, the future low-altitude airspace will gradually change from the "low density, small frequency, independent route" operation mode to the "high density, large frequency, shared route" operation mode. It can be predicted that in order to ensure flight safety, the real-time requirement for unmanned aerial vehicle flight supervision is getting higher and higher.

[0003] At present, due to the low communication efficiency of the flight data of the unmanned aerial vehicle, the air traffic management cannot effectively control the airspace, which is easy to cause flight safety accidents, and the accident causes cannot be investigated and determined afterwards. SUMMARY

[0004] The purpose of the present application is to provide a flight data processing method, device and electronic equipment of an unmanned aerial vehicle to solve the technical problem of low communication efficiency of the flight data of the unmanned aerial vehicle.

[0005] In a first aspect, the present application provides a flight data processing method of an unmanned aerial vehicle, applied to a data recording device corresponding to the unmanned aerial vehicle; the method comprises: Collecting original flight data of the unmanned aerial vehicle through a sensor arranged on the unmanned aerial vehicle, and performing calculation, denoising and smoothing processing on the original flight data to obtain real-time flight data of the unmanned aerial vehicle; Generating a flight data packet conforming to a specified format based on the real-time flight data, a specified unmanned aerial vehicle ID corresponding to the unmanned aerial vehicle and specified flight plan data; Encrypting the flight data packet by using an SM4 block cipher algorithm to obtain flight ciphertext data, and obtaining a first hash value of the flight ciphertext data by using an SM3 cryptographic hash algorithm; the first hash value is used to perform integrity check on the flight ciphertext data; In response to detecting that the signal receiving power of the current network of the data recording device is greater than a specified power, transmitting the flight ciphertext data to a supervision server by using the current network; In response to detecting that the signal receiving power of the current network is lower than or equal to the specified power, switching a communication channel for transmitting the flight ciphertext data to a satellite short message communication channel, so as to transmit the flight ciphertext data to the regulatory server through the satellite short message communication channel.

[0006] In an optional implementation, the regulatory server corresponds to a blockchain, and the blockchain is constituted by means of a consortium chain, and the consortium chain corresponds to a consensus participated by a regulatory authority party, an enterprise party and a technical service party; after the flight ciphertext data is transmitted to the regulatory server, the method further comprises: The regulatory server performs blockchain chaining processing on the real-time flight data, the specified unmanned aerial vehicle ID and the specified flight plan data based on the real-time flight ciphertext data received in real time; A second hash value is generated based on the real-time flight data, the specified unmanned aerial vehicle ID and the specified flight plan data each time, a data digest is determined according to the second hash value, the data digest is stored on the blockchain, so as to record an unforgeable flight record data digest; The unmanned aerial vehicle identity and data authenticity are verified based on the specified unmanned aerial vehicle ID.

[0007] In an optional implementation, the flight data packet in the specified format is generated based on the real-time flight data, the specified unmanned aerial vehicle ID corresponding to the unmanned aerial vehicle and the specified flight plan data, and comprises: The flight data packet in the specified format is generated based on the real-time flight data, the specified unmanned aerial vehicle ID corresponding to the unmanned aerial vehicle and the specified flight plan data, and a timestamp is extracted through a Beidou system based on the generation time of the flight data packet, and the timestamp is stored in the flight data packet; The flight data packet is electronically signed by means of an SM2 elliptic curve digital signature algorithm based on a signature private key, so that the data of the flight data packet is unforgeable.

[0008] In an optional implementation, after the flight data packet is encrypted by means of the SM4 block cipher algorithm to obtain the flight ciphertext data, the method further comprises: The flight ciphertext data is continuously broadcasted outward through a remote identification (Remote ID, RID) communication channel and an automatic dependent surveillance broadcast system (Automatic Dependent Surveillance Broadcast System, ADS-B) communication channel; or, the flight data packet is continuously broadcasted outward through the remote identification (Remote ID, RID) communication channel and the automatic dependent surveillance broadcast system (Automatic Dependent Surveillance Broadcast System, ADS-B) communication channel.

[0009] In an optional implementation manner, the method further comprises: in response to the actual power of the data recording device being lower than the specified power, controlling the public network communication module, the RID data transmitting module corresponding to the RID communication channel, and the ADS-B transmitting module corresponding to the ADS-B communication channel to enter a sleep mode by an instruction, and keeping the satellite short message communication channel module corresponding to the satellite short message communication channel continuously running; when the public network communication module is in the sleep mode, in response to detecting that the signal receiving power of the current network is greater than the specified power, waking up the public network communication module for single communication and then entering the sleep mode again until detecting that the data recording device enters a charging state or the actual power is higher than the specified power.

[0010] In an optional implementation manner, the data recording device comprises: a core processor configured to execute a flight data multi-source heterogeneous distribution algorithm processing and encrypt the flight data packet; a RID data transmitting module configured to broadcast the flight data of the unmanned aerial vehicle to the outside through a Bluetooth protocol; a sensor module comprising a six-axis sensor, a magnetometer, and a barometer, configured to collect flight attitude, height, and environmental data of the unmanned aerial vehicle; a public network communication module configured to transmit the real-time flight ciphertext data to the supervision server by using a periodic transmission model; a positioning module configured to provide timestamp and location data; a Beidou short message module configured to perform satellite bidirectional short message communication; an ADS-B transmitting module configured to broadcast the real-time flight data and the specified unmanned aerial vehicle ID to the outside through a 1090MHz frequency.

[0011] In an optional implementation manner, the specified unmanned aerial vehicle ID, the specified flight plan data, and the company data corresponding to the unmanned aerial vehicle are determined by initial parameter configuration through a Wi-Fi module built in the data recording device; the sensor comprises an attitude sensor; and the method further comprises: in response to the attitude sensor detecting that the unmanned aerial vehicle enters a flight state, the data recording device automatically enters a working state; or, in response to an opening operation on the data recording device, the data recording device enters the working state.

[0012] In a second aspect, the application provides a flight data communication device of an unmanned aerial vehicle, applied to a data recording device corresponding to the unmanned aerial vehicle; the device comprises: The collection module is configured to collect original flight data of the unmanned aerial vehicle through a sensor arranged on the unmanned aerial vehicle, and to obtain real-time flight data of the unmanned aerial vehicle by solving, denoising and smoothing the original flight data. The generation module is configured to generate a flight data packet in a specified format based on the real-time flight data, a specified unmanned aerial vehicle ID corresponding to the unmanned aerial vehicle and specified flight plan data. The encryption module is configured to encrypt the flight data packet by using an SM4 block cipher algorithm to obtain flight ciphertext data, and to obtain a first hash value of the flight ciphertext data by using an SM3 cryptographic hash algorithm; the first hash value is used to perform integrity verification on the ciphertext data. The transmission module is configured to transmit the flight ciphertext data to a supervision server by using a current network in response to detecting that signal receiving power of the current network is greater than a specified power. The switching module is configured to switch a communication channel used for transmitting the flight ciphertext data to a satellite short message communication channel in response to detecting that the signal receiving power of the current network is less than or equal to the specified power, so as to transmit the flight ciphertext data to the supervision server through the satellite short message communication channel.

[0013] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor implements the steps of the method according to any one of the preceding embodiments when executing the computer program.

[0014] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer executable instructions, and the computer executable instructions cause a processor to run the method according to any one of the preceding embodiments when the computer executable instructions are invoked and run by the processor.

[0015] The present application brings the following beneficial effects: The application provides a flight data processing method and device of a UAV and an electronic device, and is applied to a data recording device corresponding to the UAV. The method can collect original flight data of the UAV through sensors arranged on the UAV, and obtain real-time flight data of the UAV by solving, denoising and smoothing the original flight data. The flight data packet in a specified format is generated based on the real-time flight data, a specified UAV ID corresponding to the UAV and specified flight plan data. The flight data packet is encrypted by using an SM4 block cipher algorithm to obtain flight ciphertext data, and a first hash value of the flight ciphertext data is obtained by using an SM3 password hash algorithm. The first hash value is used for performing integrity verification on the flight ciphertext data. In response to detecting that the signal receiving power of the current network of the data recording device is greater than a specified power, the flight ciphertext data is transmitted to a supervision server by using the current network. In response to detecting that the signal receiving power of the current network is less than or equal to the specified power, a communication channel used for transmitting the flight ciphertext data is switched to a satellite short message communication channel, so that the flight ciphertext data is transmitted to the supervision server by using the satellite short message communication channel. In the scheme, the flight data multi-channel (such as 4G / 5G, Beidou short message, ADS-B and RID) transmission is realized by increasing the flight data distribution transmission modes of the current network and the satellite short message communication channel and the like. The data distribution channel is dynamically selected according to the channel communication quality, so that the flight data communication efficiency of the UAV is improved, the data loss risk is reduced, and the technical problems of low flight data communication efficiency of the UAV are solved.

[0016] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings without creative labor based on these drawings.

[0018] Figure 1 A flowchart of a flight data processing method of a UAV provided by the embodiments of the present application; Figure 2 Another flowchart of a flight data processing method of a UAV provided by the embodiments of the present application; Figure 3 A structure diagram of a flight data processing device of a UAV provided by the embodiments of the present application; Figure 4A structural schematic diagram of an electronic device is shown. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described below in connection with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0020] The terms "comprising" and "having" and any variations thereof mentioned in the embodiments of the present application are intended to cover the inclusions without limitation. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but can optionally further comprise other steps or units not listed, or can optionally further comprise other steps or units inherent to the process, method, product or device.

[0021] At present, most of the unmanned aerial vehicles in the current low-altitude airspace generally only rely on one way of the data transmission link of the unmanned aerial vehicle itself to issue the unmanned aerial vehicle ID, flight plan and real-time flight data (flight attitude, position, heading, speed, etc.) to the operator's remote control device. Except for some unmanned aerial vehicles of certain brands that can upload to the server of the unmanned aerial vehicle manufacturer through the network, the flight data of other unmanned aerial vehicles is not saved. This results in that the air traffic management department cannot effectively control the airspace, which is prone to cause flight safety accidents, and cannot investigate and determine the cause of the accident afterwards.

[0022] Most of the current aircraft do not have independent devices to generate and transmit aircraft data. Most of the relevant flight data is transmitted to the operator's remote control device or ground station through the data transmission link of the aircraft itself. Although some unmanned aerial vehicles can forward the data to the server of the manufacturer for storage, the data cannot be obtained and stored by the regulatory department in real time. Moreover, the data in the data transmission link does not take any encryption measures to prevent tampering, so there is a problem of being unable to prove the authenticity and integrity of the data. Furthermore, the current flight data transmission method often only relies on the data transmission device of the unmanned aerial vehicle itself. The single data communication link cannot ensure that the flight data is still transmitted stably under the conditions of signal interference, obstruction, long distance, etc., which is prone to cause problems such as data loss and delay.

[0023] Based on this, the embodiments of the present application provide a flight data processing method and device of an unmanned aerial vehicle and an electronic device. Through the method, the technical problem of low flight data communication efficiency of the unmanned aerial vehicle can be solved.

[0024] The embodiments of the present application will be further described below in connection with the drawings.

[0025] Figure 1 A flowchart of a flight data processing method of a UAV is provided for an embodiment of the present application. The method is applied to a data recording device corresponding to the UAV. As shown in the figure, the method comprises the following steps: Figure 1 S110, collecting original flight data of the UAV through a sensor arranged on the UAV, and performing calculation, denoising and smoothing processing on the original flight data to obtain real-time flight data of the UAV.

[0026] In this step, for the data preprocessing method, the collected original sensor data (flight attitude, height and environmental data described above) is preprocessed (real-time flight data is obtained) by calculation, denoising and smoothing.

[0027] In actual application, the data recording device can be installed on the UAV in a magic tape or buckle manner, and configured through WIFI to adapt to any aircraft. The data recording device is used as an independent device for aircraft data recording. The hardware part of the device includes a core processor, a remote identification (Remote ID, RID) data transmission module, a sensor module, a data storage, a public network communication module, a positioning module, a Beidou short message module, an automatic dependent surveillance broadcast system (Automatic Dependent Surveillance Broadcast System, ADS-B) transmission module. The built-in software includes a data preprocessing method, a data generation method, a data encryption algorithm, a flight data multi-source heterogeneous distribution method, an electronic signature algorithm, a Beidou-based time extraction algorithm, etc.

[0028] As an optional implementation, the UAV ID, the flight plan data and the company data corresponding to the UAV are determined by initial parameter configuration through the Wi-Fi module built in the data recording device; the sensor includes an attitude sensor; the method can further comprise the following steps: In response to the attitude sensor detecting that the UAV enters a flight state, the data recording device automatically enters a working state; or, in response to an opening operation for the data recording device, the data recording device enters a working state.

[0029] For example, the data recording device can enter a working state automatically after flight through manual opening of a switch or detection of the attitude sensor, flight data is sent to a third-party monitoring server through a public network data transmission module, the device is charged by a wireless charger, and the device is configured with initial parameters such as aircraft ID, company, flight task, etc. through the built-in Wi-Fi module.

[0030] ​S120, generate a flight data packet in a specified format based on the real-time flight data, the specified UAV ID corresponding to the UAV, and the specified flight plan data.

[0031] As an optional implementation, the generation of the flight data packet in the specified format based on the real-time flight data, the specified UAV ID corresponding to the UAV, and the specified flight plan data can specifically include the following steps: The flight data packet in the specified format is generated based on the real-time flight data, the specified UAV ID corresponding to the UAV, and the specified flight plan data, and a timestamp is extracted through the Beidou system based on the generation time of the flight data packet, and the timestamp is stored in the flight data packet. The flight data packet is electronically signed by using the SM2 elliptic curve digital signature algorithm based on the signature private key, so that the data of the flight data packet is tamper-proof.

[0032] For the data generation method, the UAV ID, the flight plan, and the real-time flight data are generated into a data packet in a predetermined format. For the time extraction method, a high-precision timestamp is extracted based on the Beidou system during the data generation process (the data generation time as the timestamp), ensuring the time consistency and reliability of the data, and the timestamp is set in the data packet. For the electronic signature algorithm, the flight data packet (the above-mentioned data packet) is signed based on the signature private key, specifically using the SM2 elliptic curve digital signature algorithm, to ensure that the data is tamper-proof.

[0033] S130, encrypt the flight data packet by using the SM4 block cipher algorithm to obtain flight ciphertext data, and obtain a first hash value of the flight ciphertext data by using the SM3 cryptographic hash algorithm; the first hash value is used for integrity verification of the flight ciphertext data.

[0034] For the data encryption algorithm, the SM4 block cipher algorithm can be used to encrypt the above-mentioned signed data packet. Then the first hash value of the ciphertext is obtained by using the SM3 cryptographic hash algorithm, which is used for integrity verification.

[0035] S140, in response to detecting that the signal receiving power of the current network of the data recording device is greater than a specified power, transmitting the flight ciphertext data to the regulatory server by using the current network.

[0036] For the multi-source heterogeneous distribution method of flight data, for example, when it is detected that the 4G / 5G network reference signal receiving power (RSRP) is greater than -95 dBm (specified power), the flight data is transmitted using the 4G / 5G network ((encrypted) transmission to the regulatory server). For data transmission, during the flight process, a periodic transmission model (such as one message per second) can be used to send real-time encrypted data to the third-party regulatory server through the public network data transmission module.

[0037] As an optional implementation, after the flight data packet is encrypted using the SM4 block cipher algorithm to obtain the flight ciphertext data, the method can further include the following steps: continuously broadcasting the flight ciphertext data through the remote identification RID communication channel and the automatic dependent surveillance broadcast system ADS-B communication channel; or, continuously broadcasting the flight data packet through the remote identification RID communication channel and the automatic dependent surveillance broadcast system ADS-B communication channel.

[0038] For example, the RID and ADS-B (ADS-B system, full name: Automatic Dependent Surveillance Broadcast System) channels are kept continuously broadcasting (both encrypted and unencrypted) flight data to the outside. The RID transmitter equipped unmanned aerial vehicle can be prevented from colliding and warned to actively avoid collision accidents.

[0039] As an optional implementation, as shown in Figure 2 The method can further include the following steps: S210, in response to the actual power of the data recording device being lower than the specified power, the public network communication module, the RID data transmitter module corresponding to the RID communication channel, and the ADS-B transmitter module corresponding to the ADS-B communication channel are controlled by the instruction to enter the sleep mode, and the satellite short message communication channel corresponding to the satellite short message module is kept running; S220, when the public network communication module is in the sleep mode, in response to detecting that the signal receiving power of the current network is greater than the specified power, the public network communication module is woken up for single communication and then enters the sleep mode again until the data recording device enters the charging state or the actual power is higher than the specified power.

[0040] For example, when the data recording device enters a low power state (e.g., the power is less than 15%), the device is instructed to put the RID data transmission module, the public network communication module, and the ADS-B transmission module into sleep mode to save power, and the Beidou short message module is kept working. When the 4G / 5G network RSRP is greater than -95 dBm, the public network communication module is woken up for single communication and then enters sleep mode again until the device enters a charging state or the power is greater than 15%.

[0041] By dynamically selecting a data distribution channel according to the channel communication quality and the battery power, the risk of data loss is reduced, and the real-time uninterrupted control of the unmanned aerial vehicle by the regulatory department is ensured.

[0042] S150, in response to detecting that the signal receiving power of the current network is less than or equal to a specified power, switching a communication channel for transmitting flight ciphertext data to a satellite short message communication channel, so as to transmit the flight ciphertext data to the regulatory server through the satellite short message communication channel.

[0043] As a possible implementation, when the 4G / 5G network signal RSRP is less than -95 dBm (specified power), the channel is switched to the Beidou short message channel to transmit data.

[0044] In some embodiments, the data recording device comprises: a core processor for performing flight data multi-source heterogeneous distribution algorithm processing and flight data packet encryption; an RID data transmission module for broadcasting the flight data of the unmanned aerial vehicle to the outside through a Bluetooth protocol; a sensor module comprising a six-axis sensor, a magnetometer, and a barometer for collecting flight attitude, height, and environmental data of the unmanned aerial vehicle; a public network communication module for transmitting real-time flight ciphertext data to a regulatory server using a periodic transmission model; a positioning module for providing timestamp and location data; a Beidou short message module for performing satellite two-way short message communication; and an ADS-B transmission module for broadcasting real-time flight data and a specified unmanned aerial vehicle ID to the outside through a 1090MHz frequency.

[0045] For example, the core processor is a high-performance low-power processor used for flight data multi-source heterogeneous distribution algorithm processing, flight data encryption, etc. The RID data transmission module broadcasts the unmanned aerial vehicle flight data externally through Bluetooth protocol. The sensor module includes a six-axis sensor, a magnetometer, and a barometer for accurately collecting flight attitude, height, and environmental data. The power module is built-in with an aviation large-capacity battery supporting wireless charging function to ensure long-term operation. The data storage module is a high-speed, shock-resistant non-volatile memory for storing local flight data. The public network communication module supports public data transmission (4G / 5G / NB-IoT) and WiFi connection. The positioning module is compatible with GPS and Beidou systems, providing high-precision timestamp and location data. The Beidou short message module supports Beidou satellite two-way short message communication. The ADS-B transmission module broadcasts ADS-B messages (including unmanned aerial vehicle ID, real-time flight data, etc.) externally through 1090MHz frequency.

[0046] Through independent data and flight data recording, storage and transmission units, independent operation is ensured without relying on aircraft manufacturers and users, ensuring data credibility. Moreover, through full life cycle management of flight, from pre-flight plan declaration, in-flight process supervision, post-flight quality analysis and traceability, multiple data transmission methods can ensure continuous data connection and complete flight trajectory. When abnormal situations occur, the device can also rely on the returned data for unmanned aerial vehicle search, accident analysis and responsibility determination, flight quality analysis, etc.

[0047] In the embodiments of the present application, by increasing the current network and satellite short message communication channel and other multi-source heterogeneous flight data distribution transmission methods, multi-channel (such as 4G / 5G, Beidou short message, ADS-B, RID) flight data transmission is realized. By dynamically selecting data distribution channels according to channel communication quality, not only the flight data communication efficiency of the unmanned aerial vehicle is improved, but also the risk of data loss is reduced, ensuring real-time uninterrupted control of the unmanned aerial vehicle by the regulatory department. Moreover, flight data is not limited to being controlled by manufacturers and users, but can also be transmitted to the regulatory server through the data recording device, ensuring the neutrality of flight data analysis, effectively protecting the legal rights and interests of the regular flight of civil unmanned aerial vehicles, and restricting irregular and disorderly flight behavior, so that the low-altitude economy can develop healthily. As an important part of the low-altitude economy, the insurance of civil unmanned aerial vehicles can use the present application to achieve rational and reliable flight analysis and enter a virtuous cycle of development.

[0048] In some embodiments, the upper regulatory server corresponds to a blockchain, which is constituted by using the composition method of the alliance chain. The alliance chain corresponds to the consensus participation of the regulatory agency side, the enterprise side and the technical service side; after transmitting the flight ciphertext data to the regulatory server, the method can further include the following steps: The regulatory server performs blockchain on-chain processing on real-time flight data, a specified UAV ID, and specified flight plan data based on flight ciphertext data received in real time; generates a second hash value based on real-time flight data, a specified UAV ID, and specified flight plan data each time, determines a data digest according to the second hash value, and stores the data digest on the blockchain to record an unforgeable flight record data digest; and verifies the aircraft identity and data authenticity of the UAV based on the specified UAV ID.

[0049] For example, the third-party regulatory server receives flight data and performs blockchain on-chain processing, and provides data evidence storage and authentication services, wherein the blockchain should adopt a consortium chain structure. Specifically, the third-party regulatory server receives encrypted flight data in real time and initiates a transaction to the blockchain, calculates a data digest and stores it on the blockchain; provides data evidence storage (records an unforgeable flight record data digest) and data authentication (verifies the aircraft identity and data authenticity) services through blockchain technology. For the blockchain network, a consortium chain mode is adopted, and regulatory agencies, enterprises, and technology service providers jointly participate in consensus to ensure data privacy and efficient processing. Each time the flight record generates a second hash value (data digest) and is stored on the chain, with aircraft ID, flight task, timestamp, and other metadata. Moreover, it also supports data tracing and fast retrieval, facilitating subsequent flight safety analysis and investigation.

[0050] In the embodiments of the present application, the blockchain technology based on the consortium chain ensures the authenticity of the data source, the unforgeability of the data, and the integrity of the data. By introducing the blockchain technology, the flight data has the characteristics of tamper resistance and integrity, and any party cannot deny it; at the same time, by using the tamper-proof feature of the blockchain, the stored flight data has high credibility, so that the UAV regulatory department, the operating unit, and the individual cannot falsify, tamper, delete, or deny the data, and a tamper-proof multi-source heterogeneous distribution transmission method for UAV flight data is realized.

[0051] Figure 3 A structural schematic diagram of a flight data processing device of a UAV is provided. The device can be applied to a data recording equipment corresponding to the UAV. As shown in Figure 3 The flight data processing device 300 of the UAV includes: The acquisition module 301 is configured to acquire original flight data of the UAV through a sensor arranged on the UAV, and perform calculation, denoising, and smoothing processing on the original flight data to obtain real-time flight data of the UAV. The generation module 302 is configured to generate a flight data packet in a specified format based on the real-time flight data, a specified UAV ID corresponding to the UAV, and specified flight plan data. The encryption module 303 is configured to encrypt the flight data packet by using an SM4 block cipher algorithm to obtain flight ciphertext data, and obtain a first hash value of the flight ciphertext data by using an SM3 cryptographic hash algorithm; the first hash value is used for performing integrity verification on the ciphertext data. The transmission module 304 is configured to transmit the flight ciphertext data to a supervision server by using a current network in response to detecting that signal receiving power of the current network is greater than a specified power. The switching module 305 is configured to switch a communication channel used for transmitting the flight ciphertext data to a satellite short message communication channel in response to detecting that the signal receiving power of the current network is less than or equal to the specified power, so as to transmit the flight ciphertext data to the supervision server by using the satellite short message communication channel.

[0052] The flight data processing apparatus of the unmanned aerial vehicle provided in the embodiments of the present application has the same technical features as the flight data processing method of the unmanned aerial vehicle provided in the above embodiments, and can solve the same technical problems and achieve the same technical effects.

[0053] The electronic device provided in the embodiments of the present application, as shown in Figure 4 The electronic device 400 includes a processor 402 and a memory 401, and the memory stores a computer program capable of running on the processor, and the processor implements the steps of the method provided in the above embodiments when executing the computer program.

[0054] Referring to Figure 4 , the electronic device further includes a bus 403 and a communication interface 404, and the processor 402, the communication interface 404 and the memory 401 are connected through the bus 403; the processor 402 is configured to execute the executable modules stored in the memory 401, such as a computer program.

[0055] The memory 401 can include a high-speed random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. The communication between the system network element and at least one other network element is realized through at least one communication interface 404 (which can be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. can be used.

[0056] The bus 403 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 4 only one bidirectional arrow is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0057] The memory 401 is configured to store a program, and the processor 402 executes the program after receiving an execution instruction. The method performed by the device defined by the process disclosed in any embodiment of the present application can be applied to the processor 402 or implemented by the processor 402.

[0058] The processor 402 can be an integrated circuit chip having a processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 402 or the instruction in the form of software. The processor 402 mentioned above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register, etc. The storage medium in the art. The storage medium is located in the memory 401, and the processor 402 reads the information in the memory 401, and combines the hardware to complete the steps of the above method.

[0059] Corresponding to the flight data processing method of the unmanned aerial vehicle, the embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium stores computer executable instructions, when the processor calls and runs the computer executable instructions, the computer executable instructions make the processor run the steps of the flight data processing method of the unmanned aerial vehicle.

[0060] The flight data processing apparatus of the unmanned aerial vehicle provided in the embodiments of the present application can be specific hardware on the device or software or firmware installed on the device, etc. The apparatus provided in the embodiments of the present application has the same implementation principle and technical effects as the foregoing method embodiments, and for brief description, the part not mentioned in the apparatus embodiment part can refer to the corresponding content in the foregoing method embodiments. The person skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, apparatus and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0061] In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are only schematic. For example, the division of the units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, and can be electrical, mechanical or other forms.

[0062] For another example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order from that shown in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0063] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the present embodiment according to actual needs.

[0064] In addition, each function unit in the embodiments provided by the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0065] The functions described above can be implemented in software, firmware, hardware, or any combination thereof. In addition, the functions described above can be implemented in different order from the order described above, and that is not described in the embodiments provided by the present application does not mean that the present application is not related. Therefore, the protection scope of the present application should not be limited to the embodiments provided by the present application.

[0066] It should be noted that: similar labels and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings, in addition, the terms "first", "second", "third" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0067] Finally, it should be pointed out that: the above described embodiments, only for the specific implementation of the present application, in order to illustrate the technical scheme of the present application, and not limited, the protection scope of the present application does not limit to this, although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand: any familiar with the technical field of the technical personnel in the technical range disclosed by the present application, it still can be modified or easily thought of change to the technical scheme recorded in the foregoing embodiments, or to replace some of the technical features; and these modifications, changes or replacement, and the corresponding technical scheme of the essence of the present application does not deviate from the scope of the embodiments of the present application. All should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for processing flight data of an unmanned aerial vehicle, characterized in that: The data recording device corresponding to the UAV is applied; the method includes: The raw flight data of the UAV is collected by sensors provided on the UAV, and the raw flight data is processed by solving, denoising and smoothing to obtain real-time flight data of the UAV; Generate a flight data packet in a specified format based on the real-time flight data, a designated drone ID corresponding to the drone, and designated flight plan data; Encrypting the flight data packet using an SM4 block cipher algorithm to obtain flight ciphertext data, and obtaining a first hash value of the flight ciphertext data using an SM3 cryptographic hash algorithm; the first hash value is used to perform an integrity check on the flight ciphertext data; In response to detecting that the signal receiving power of the current network of the data recording device is greater than a specified power, transmitting the flight ciphertext data to a supervision server using the current network; In response to detecting that the signal receiving power of the current network is lower than or equal to the specified power, the communication channel used to transmit the flight ciphertext data is switched to a satellite short message communication channel to transmit the flight ciphertext data to the supervision server through the satellite short message communication channel.

2. The method according to claim 1, characterized in that The regulatory server corresponds to a blockchain, which is constructed using a consortium chain structure. The consortium chain corresponds to a consensus jointly participated by the regulatory agency, the enterprise, and the technical service provider; After transmitting the flight ciphertext data to the supervision server, the method further includes: The supervision server processes the real-time flight data, the designated drone ID, and the designated flight plan data on a blockchain based on the flight ciphertext data received in real time; generating a second hash value based on the real-time flight data, the designated drone ID, and the designated flight plan data for each time, determining a data digest based on the second hash value, and storing the data digest on the blockchain to record an unalterable flight record data digest; Verify the drone's aircraft identity and data authenticity based on the designated drone ID.

3. The method according to claim 1, characterized in that The generating of a flight data packet conforming to a specified format based on the real-time flight data, a designated drone ID corresponding to the drone, and designated flight plan data includes: generating a flight data packet in a specified format based on the real-time flight data, a designated drone ID corresponding to the drone, and designated flight plan data, extracting a timestamp from the BeiDou system based on a generation time of the flight data packet, and storing the timestamp in the flight data packet; The flight data packet is electronically signed using the SM2 elliptic curve digital signature algorithm based on the signature private key to make the data of the flight data packet tamper-proof.

4. The method according to claim 1, wherein After encrypting the flight data packet using the SM4 block cipher algorithm to obtain flight ciphertext data, the method further includes: The flight ciphertext data is continuously broadcast outward through the remote identification RID communication channel and the automatic dependent surveillance broadcast system ADS-B communication channel; or, the flight data packet is continuously broadcast outward through the remote identification RID communication channel and the automatic dependent surveillance broadcast system ADS-B communication channel.

5. The method according to claim 4, characterized in that Also includes: In response to the actual power level of the data recording device being lower than the specified power level, controlling the public network communication module, the RID data transmission module corresponding to the RID communication channel, and the ADS-B transmission module corresponding to the ADS-B communication channel to enter a sleep mode through instructions, and keeping the satellite short message module corresponding to the satellite short message communication channel continuously running; When the public network communication module is in the sleep mode, in response to detecting that the signal receiving power of the current network is greater than the specified power, the public network communication module is awakened for a single communication and then enters the sleep mode again until it is detected that the data recording device enters a charging state or the actual power is higher than the specified power.

6. The method according to claim 1, characterized in that The data recording device comprises: A core processor, configured to execute flight data multi-source heterogeneous distribution algorithm processing and flight data packet encryption; A RID data transmission module, used to broadcast the flight data of the UAV via the Bluetooth protocol; A sensor module, including a six-axis sensor, a magnetometer, and a barometer, for collecting flight attitude, altitude, and environmental data of the drone; A public network communication module, configured to transmit the real-time flight ciphertext data to the supervision server using a periodic transmission model; Positioning module, used to provide timestamp and location data; Beidou short message module, used to perform two-way short message communication between satellites; The ADS-B transmitting module is used to broadcast the real-time flight data and the designated drone ID via a 1090 MHz frequency.

7. The method according to claim 1, characterized in that The designated drone ID, designated flight plan data, and the data of the company to which the drone belongs are determined by initial parameter configuration via a built-in Wi-Fi module of the data recording device; the sensor includes a posture sensor; and further includes: In response to the attitude sensor detecting that the drone enters a flight state, the data recording device automatically enters a working state; or, in response to a start operation on the data recording device, the data recording device enters a working state.

8. A flight data communication device for an unmanned aerial vehicle, characterized in that: The data recording device corresponding to the UAV is applied; the device includes: An acquisition module is used to collect raw flight data of the UAV through sensors provided on the UAV, and to perform calculation, denoising and smoothing on the raw flight data to obtain real-time flight data of the UAV; A generation module, configured to generate a flight data packet in a specified format based on the real-time flight data, a designated drone ID corresponding to the drone, and designated flight plan data; an encryption module, configured to encrypt the flight data packet using an SM4 block cipher algorithm to obtain flight ciphertext data, and to obtain a first hash value of the flight ciphertext data using an SM3 cryptographic hash algorithm; the first hash value is used to perform an integrity check on the ciphertext data; a transmission module, configured to transmit the flight ciphertext data to a supervision server using the current network in response to detecting that the signal reception power of the current network is greater than a specified power; A switching module is used to switch the communication channel used to transmit the flight ciphertext data to a satellite short message communication channel in response to detecting that the signal receiving power of the current network is lower than or equal to the specified power, so as to transmit the flight ciphertext data to the supervision server through the satellite short message communication channel.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the method according to any one of claims 1 to 7.

Images