A remote control type unmanned equipment state detection method, system, device and medium

Abstract

The application discloses a remote control unmanned equipment state detection method, system, device and medium, and belongs to the technical field of data processing. The remote control unmanned equipment state detection method comprises the following steps: if a data packet sent by a remote end is received, it is judged whether the data packet conforms to a preset format; if the data packet conforms to the preset format, the data packet is set as an i-th legal data packet received by the remote control unmanned equipment; a timestamp of the i-th legal data packet is compared with a reference timestamp, and when the timestamp of the i-th legal data packet is earlier than the reference timestamp, it is judged that the remote control unmanned equipment is in a suspected intercepted state; the data sending frequency of the remote end is calculated according to the number of legal data packets received within a preset time length, and when the data sending frequency is greater than a critical frequency, it is judged that the remote control unmanned equipment is in an intercepted state. The application can enable the remote control unmanned equipment to realize autonomous judgment of the intercepted state, and improve the equipment safety.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, system, device and medium for monitoring the status of remotely controlled unmanned equipment. Background Technology

[0002] With rapid technological innovation, remote-controlled unmanned equipment has been widely used in logistics transportation, emergency rescue, agricultural plant protection, infrastructure inspection and maritime search and rescue, making the safety of its human-machine control loop increasingly critical.

[0003] Currently, the mainstream human-machine interaction method for remote-controlled unmanned equipment is non-line-of-sight remote control. Whether remote-controlled unmanned equipment loses partial or complete control due to interference from unknown signals mainly depends on the subjective judgment of experienced personnel. Remote-controlled unmanned equipment cannot autonomously determine whether it has been intercepted.

[0004] Therefore, how to enable remotely controlled unmanned equipment to autonomously determine its interception status and improve equipment security is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, system, device and medium for detecting the status of remotely controlled unmanned equipment, which enables the remotely controlled unmanned equipment to autonomously determine its intercepted status and improve equipment security.

[0006] To address the aforementioned technical problems, this application provides a method for detecting the state of remotely controlled unmanned equipment, comprising:

[0007] If a data packet is received from a remote end, determine whether the data packet conforms to a preset format;

[0008] If the data packet conforms to the preset format, then the data packet is set as the i-th valid data packet received by the remotely controlled unmanned equipment;

[0009] The timestamp of the i-th legitimate data packet is compared with the reference timestamp, and the remote-controlled unmanned equipment is determined to be in a suspected interception state when the timestamp of the i-th legitimate data packet is earlier than the reference timestamp; wherein, the reference timestamp is the timestamp of the j-th legitimate data packet, and j is less than i;

[0010] The remote terminal calculates the data transmission frequency based on the number of legitimate data packets received within a preset time period, and determines that the remote-controlled unmanned equipment is in an intercepted state when the data transmission frequency is greater than a critical frequency.

[0011] Optionally, after comparing the timestamp of the i-th valid data packet with the reference timestamp, the method further includes:

[0012] If the timestamp of the i-th valid data packet is not earlier than the reference timestamp, then the reference timestamp is updated to the timestamp of the i-th valid data packet.

[0013] Optionally, determining whether the data packet conforms to a preset format includes:

[0014] Extract the start frame, end frame, identity code, and dynamic token information from the data packet;

[0015] Determine whether the start frame, the end frame, the identity verification code, and the dynamic token information are all correct;

[0016] If so, the data packet is determined to conform to the preset format;

[0017] If not, the data packet is determined to be inconsistent with the preset format.

[0018] Optionally, after determining that the remotely controlled unmanned equipment is in a suspected interception state, the method further includes:

[0019] Send a notification message to the remote terminal indicating a suspected interception status, so that the remote terminal sends a data packet containing dynamic token update information to the remotely controlled unmanned equipment;

[0020] If the timestamp of the kth legitimate data packet received by the remotely controlled unmanned equipment is not earlier than the reference timestamp, then it is determined whether the kth legitimate data packet contains the dynamic token update information; k is greater than i;

[0021] If so, the standard dynamic token information stored in the remote-controlled unmanned equipment is updated according to the dynamic token update information; wherein, the standard dynamic token information is used to determine whether the dynamic token information in the legitimate data packet is correct.

[0022] Optionally, after determining that the remotely controlled unmanned equipment is in a state of being intercepted, the method further includes:

[0023] Send a notification message corresponding to the intercepted status to the remote terminal so that the remote terminal sends a stop command to the remote-controlled unmanned equipment;

[0024] The remote terminal is also used to determine that the remote-controlled unmanned equipment is in a state of being intercepted when it receives a prompt message corresponding to a suspected interception state and disconnects from the remote-controlled unmanned equipment.

[0025] Optionally, after determining that the remotely controlled unmanned equipment is in a suspected interception state, the method further includes:

[0026] No response is given to the i-th valid data packet, and the i-th valid data packet is discarded;

[0027] If the timestamp of the (i+1)th valid data packet is not earlier than the reference timestamp, then it is determined that the remote-controlled unmanned equipment is not in a suspected interception state.

[0028] If the timestamps of n consecutive newly received legitimate data packets are all earlier than the reference timestamp, then the remote-controlled unmanned equipment is determined to be in an intercepted state.

[0029] Optionally, after calculating the data transmission frequency of the remote end based on the number of legitimate data packets received within a preset time period, the method further includes:

[0030] Determine the data transmission frequency change information of the remote end;

[0031] The current task type of the remotely controlled unmanned equipment is queried, and the data transmission characteristics corresponding to the current task type are determined; wherein, the data transmission characteristics include the maximum data transmission frequency and / or the change in the maximum data transmission frequency;

[0032] If the data transmission frequency change information does not conform to the data transmission characteristics, then the remote-controlled unmanned equipment is determined to be in an intercepted state.

[0033] This application also provides a remotely controlled unmanned equipment status detection system, the system comprising:

[0034] The format determination module is used to determine whether the data packet received from the remote end conforms to a preset format.

[0035] The data packet setting module is used to set the data packet as the i-th valid data packet received by the remotely controlled unmanned equipment if the data packet conforms to the preset format.

[0036] The time determination module is used to compare the timestamp of the i-th legitimate data packet with a reference timestamp, and determine that the remote-controlled unmanned equipment is in a suspected interception state when the timestamp of the i-th legitimate data packet is earlier than the reference timestamp; wherein, the reference timestamp is the timestamp of the j-th legitimate data packet, and j is less than i;

[0037] The frequency determination module is used to calculate the data transmission frequency of the remote end based on the number of legitimate data packets received within a preset time period, and to determine that the remote-controlled unmanned equipment is in an intercepted state when the data transmission frequency is greater than the critical frequency.

[0038] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described remote-controlled unmanned equipment status detection method.

[0039] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described remote-controlled unmanned equipment status detection method.

[0040] This application provides a method for detecting the state of a remotely controlled unmanned equipment. Upon receiving a data packet from a remote end, this method sets the packet as the i-th legitimate data packet received by the remotely controlled unmanned equipment if it conforms to a preset format. This eliminates interference from malformed data packets in subsequent judgments, ensuring the accuracy of data processing. After obtaining the i-th legitimate data packet, this application detects the state of the remotely controlled unmanned equipment based on both the timestamp and the data transmission frequency. Specifically, this application compares the timestamp of the i-th legitimate data packet with the timestamp of the previously received j-th legitimate data packet. If the timestamp of the i-th data packet is earlier than the reference timestamp, the remotely controlled unmanned equipment is determined to be in a suspected intercepted state. This method can detect situations where data packets are tampered with or replayed. This application also analyzes the data transmission frequency. When the data transmission frequency exceeds a set critical frequency, the remotely controlled unmanned equipment is determined to be in an intercepted state. This method can detect situations where attackers frequently send data packets to achieve interference or control. The above scheme can analyze data packets based on multiple dimensions, enabling the remotely controlled unmanned equipment to autonomously determine its intercepted state, thus improving equipment security. This application also provides a remote-controlled unmanned equipment status monitoring system, a storage medium, and an electronic device, which have the aforementioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0041] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart illustrating a state detection method for a remotely controlled unmanned equipment provided in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of the structure of a remote-controlled unmanned equipment system provided in an embodiment of this application;

[0044] Figure 3 A flowchart of a method for self-judgment of the intercepted status of remotely controlled unmanned equipment provided in an embodiment of this application;

[0045] Figure 4 This is a flowchart of a timestamp anomaly detection method provided in an embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] Please see below. Figure 1 , Figure 1 This is a flowchart of a state detection method for a remotely controlled unmanned equipment provided in an embodiment of this application.

[0048] Specific steps may include:

[0049] S101: If a data packet is received from a remote terminal, determine whether the data packet conforms to a preset format.

[0050] This embodiment can be applied to remotely controlled unmanned equipment, which can receive data packets sent by a remote end and then perform corresponding operations according to the data packets. The aforementioned remotely controlled unmanned equipment can be a drone or an unmanned vehicle.

[0051] Remotely controlled unmanned equipment can pre-store data packets in a format that meets the requirements, i.e., a preset format. This preset format specifies the structure, length, encoding method, and logical relationships between key fields, ensuring that data packets can be accurately identified and parsed during transmission and reception. These key fields may include any one or a combination of any of the following: start frame, end frame, identification code, dynamic token information, timestamp, and valid data segment.

[0052] Upon receiving a data packet from a remote end, this embodiment can parse the data packet to determine whether it conforms to a preset format. If the data packet does not conform to the preset format, no response can be given, and the data packet can be discarded.

[0053] S102: If the data packet conforms to the preset format, then the data packet is set as the i-th valid data packet received by the remote-controlled unmanned equipment;

[0054] If the received data packet conforms to a preset format, this step determines the number of received data packets conforming to the preset format as i-1, and sets the data packet as the i-th valid data packet received by the remotely controlled unmanned equipment. If a new data packet conforming to the preset format is subsequently received, it can be set as the (i+1)-th valid data packet.

[0055] S103: Compare the timestamp of the i-th legitimate data packet with the reference timestamp, and determine that the remote-controlled unmanned equipment is in a suspected interception state when the timestamp of the i-th legitimate data packet is earlier than the reference timestamp;

[0056] Prior to this step, a reference timestamp can be obtained. The reference timestamp is the timestamp of the j-th valid data packet received before the i-th valid data packet, where j is less than i.

[0057] This step is based on setting the received data packet as the i-th valid data packet. At this point, the timestamp of the i-th valid data packet is determined and compared with the reference timestamp.

[0058] If the timestamp of the i-th legitimate data packet is earlier than the reference timestamp, it indicates that the time order of the data packets is abnormal, which may be due to an attacker tampering with or replaying the data packets. This timestamp backwards phenomenon does not conform to normal communication logic, so it is determined that the remote-controlled unmanned equipment is in a suspected interception state in order to take further security measures.

[0059] S104: Calculate the data transmission frequency of the remote terminal based on the number of legitimate data packets received within a preset time period, and determine that the remote-controlled unmanned equipment is in an intercepted state when the data transmission frequency is greater than the critical frequency.

[0060] Under normal circumstances, the data transmission frequency of the remote terminal is relatively stable. However, after an attacker intercepts and gains control, they may frequently send data packets to interfere with or tamper with instructions, causing the data transmission frequency to increase. This step counts the number of legitimate data packets received within a preset time period (e.g., 1 second) and divides this number by the preset time period to obtain the data transmission frequency. If the data transmission frequency exceeds a set critical frequency (e.g., 10 data packets per second), the remotely controlled unmanned equipment is determined to be under interception. This embodiment improves the security of remotely controlled unmanned equipment by calculating the data transmission frequency to detect anomalies in a timely manner.

[0061] In this embodiment, upon receiving a data packet from a remote end, if the data packet conforms to a preset format, it is designated as the i-th legitimate data packet received by the remotely controlled unmanned equipment (UAV). This eliminates interference from malformed data packets in subsequent judgments, ensuring the accuracy of data processing. After obtaining the i-th legitimate data packet, this embodiment detects the state of the UAV based on both the timestamp and the data transmission frequency. Specifically, this embodiment compares the timestamp of the i-th legitimate data packet with the timestamp of the previously received j-th legitimate data packet. If the timestamp of the i-th data packet is earlier than the reference timestamp, the UAV is determined to be in a suspected intercepted state. This method can detect cases of data packet tampering or replay attacks. This embodiment also analyzes the data transmission frequency. If the data transmission frequency exceeds a set critical frequency, the UAV is determined to be in an intercepted state. This method can detect situations where attackers frequently send data packets to achieve interference or control. The above scheme can analyze data packets based on multiple dimensions, enabling the UAV to autonomously determine its intercepted state and improving equipment security.

[0062] As for Figure 1 In a further description of the corresponding embodiment, after comparing the timestamp of the i-th valid data packet with the reference timestamp, if the timestamp of the i-th valid data packet is not earlier than the reference timestamp, then the reference timestamp is updated to the timestamp of the i-th valid data packet. After obtaining the (i+1)-th valid data packet, the timestamp of the (i+1)-th valid data packet can be compared with the timestamp of the i-th valid data packet.

[0063] As for Figure 1 Further description of the corresponding embodiments, Figure 1 A corresponding embodiment can determine whether the data packet conforms to the preset format by: extracting the start frame, end frame, identification code, and dynamic token information from the data packet; determining whether the start frame, end frame, identification code, and dynamic token information are all correct; if so, the data packet is determined to conform to the preset format; if not, the data packet is determined to not conform to the preset format.

[0064] Furthermore, after determining that the remote-controlled unmanned equipment is in a suspected interception state, this embodiment can also send a prompt message corresponding to the suspected interception state to the remote terminal, so that the remote terminal sends a data packet containing dynamic token update information to the remote-controlled unmanned equipment.

[0065] If the timestamp of the kth legitimate data packet received by the remotely controlled unmanned equipment is not earlier than the reference timestamp, then it is determined whether the kth legitimate data packet contains the dynamic token update information; k is greater than i; if so, the standard dynamic token information stored in the remotely controlled unmanned equipment is updated according to the dynamic token update information; wherein, the standard dynamic token information is used to determine whether the dynamic token information in the legitimate data packet is correct; if the dynamic token information in the legitimate data packet is the same as the standard dynamic token information, then the dynamic token information in the legitimate data packet is determined to be correct. This method can invalidate the original standard dynamic token information, eliminating the judgment interference caused by signal disturbances.

[0066] As for Figure 1 In a further description of the corresponding embodiment, after determining that the remote-controlled unmanned equipment is in an intercepted state, a prompt message corresponding to the intercepted state can be sent to the remote terminal, so that the remote terminal sends a stop command to the remote-controlled unmanned equipment; wherein, the remote terminal is also used to determine that the remote-controlled unmanned equipment is in an intercepted state when it receives a prompt message corresponding to a suspected intercepted state and disconnects from the remote-controlled unmanned equipment.

[0067] As for Figure 1 In a further description of the corresponding embodiment, after determining that the remote-controlled unmanned equipment is in a suspected interception state, no response is given to the i-th legitimate data packet, and the i-th legitimate data packet is discarded. If the timestamp of the (i+1)-th legitimate data packet is not earlier than the reference timestamp, it is determined that the remote-controlled unmanned equipment is not in a suspected interception state; if the timestamps of n consecutive newly received legitimate data packets are all earlier than the reference timestamp, it is determined that the remote-controlled unmanned equipment is in an interception state. The above process continuously monitors the timestamps of new data packets. If they return to normal, the suspected interception state is lifted; if it remains in a suspected interception state, interception is confirmed, thus improving the security and reliability of the equipment in complex environments.

[0068] As for Figure 1 In a further description of the corresponding embodiment, after calculating the data transmission frequency of the remote end based on the number of legitimate data packets received within a preset time period, this embodiment can determine the data transmission frequency change information of the remote end; query the current task type of the remotely controlled unmanned equipment to determine the data transmission characteristics corresponding to the current task type; if the data transmission frequency change information does not conform to the data transmission characteristics, it is determined that the remotely controlled unmanned equipment is in an intercepted state. The aforementioned data transmission characteristics include the maximum data transmission frequency and / or the maximum data transmission frequency change amount.

[0069] The process described in the above embodiments is illustrated below through examples in practical applications.

[0070] This embodiment provides a method for self-judgment of the interception status of remotely controlled unmanned equipment, which enables the remotely controlled unmanned equipment to autonomously determine whether it is intercepted at the equipment end and the remote control end. The interception status is automatically prompted at the remote control end, solving the problem that the remotely controlled unmanned equipment cannot autonomously determine the interception status and automatically respond to emergencies.

[0071] The aforementioned method for self-judgment of the intercepted status of remotely controlled unmanned equipment can be applied to a remotely controlled unmanned equipment system, which includes a remote control unit, a control unit, and an actuator. The remote control unit is used to issue commands and display status information; the control unit is used to receive commands, analyze data, provide feedback on status information, and drive the actuator to perform actions; the actuator is used to complete specific actions. Communication between the remote control unit and the control unit is wireless, using UDP (User Datagram Protocol) to transmit periodic data. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram of the structure of a remote-controlled unmanned equipment system provided in an embodiment of this application. The remote-controlled unmanned equipment includes a control unit and an actuator. The remote end includes a remote control unit, and the control unit and the remote control unit are connected by a wireless signal.

[0072] The key data for the self-judgment method of intercepted remote-controlled unmanned equipment includes authentication commands and self-judgment information.

[0073] The remote control unit sends authentication commands to the control unit. These commands primarily include a start frame, an identification code, a command sequence number, timestamp information, dynamic token information, a valid data segment, a heartbeat frame, a command identification code (verification frame), and a cutoff frame. The start and cutoff frames declare the start and end of the data transmission and are used to encapsulate the data packet. The identification code identifies the data sender. The command sequence number indicates the current command sequence number. The timestamp information is updated in real-time (hours, minutes, seconds). The dynamic token information includes the sender's port number, the dynamically specified data verification range and method, and the length of the valid data segment. The valid data segment contains the specific interactive control commands. The heartbeat frame detects the data update frequency. The command identification code, or verification frame, performs data encryption operations according to the data verification requirements specified by the dynamic token, and the result is used to verify the validity of the data.

[0074] The control unit sends self-judgment information to the remote control unit. The self-judgment information mainly includes normal status, suspected interception status, and interception status.

[0075] Please see Figure 3 , Figure 3 A flowchart of a method for self-determining the intercepted state of a remotely controlled unmanned equipment provided in this application embodiment includes the following steps:

[0076] S301: The remote control unit issues authentication commands.

[0077] The remote control unit periodically sends authentication commands to the control unit. The authentication commands mainly include a start frame, identification code, command sequence number, timestamp information, dynamic token information, valid data segment, heartbeat frame, command identification code, and end frame.

[0078] S302: The control unit analyzes the data and makes a self-judgment of the intercepted status.

[0079] The process of the control unit analyzing data includes: data filtering, timestamp information anomaly detection, and data frequency anomaly detection.

[0080] Data filtering operations remove invalid and illegal data packets from real-time network data streams and extract valid data segments from legal data packets.

[0081] The specific implementation process of data filtering includes: filtering data packets with accurate start and end frames from the real-time data stream; filtering data packets from which the identity verification code has passed; extracting dynamic token information from the data packets and verifying the accuracy of the instruction identification code. If the verification passes, valid data segments are extracted; otherwise, the data is filtered out. Data packets whose start frame, end frame, and identity verification code fail are invalid data packets, and data packets whose dynamic token information fails verification are illegal data packets; all of these are directly filtered out. Data packets whose start frame, end frame, identity verification code, and dynamic token information all pass verification are valid data packets. Valid data packets need to be further judged for anomalies in timestamp information and data frequency.

[0082] The specific implementation process for timestamp information anomaly detection includes: verifying whether the timestamp information in the currently valid command data packet is the latest value to identify if the system has been intercepted by a "data stream replay attack". Since the remote control unit and the control unit communicate wirelessly, signal disturbances may cause data frame arrival times to be disordered (e.g., the 5th valid data packet is received first, and then the 3rd valid data packet arrives later), resulting in occasional inaccuracies. Therefore, such anomalies are judged as "suspected interception".

[0083] Please see Figure 4 , Figure 4 The flowchart for timestamp anomaly detection provided in this application embodiment is as follows: After receiving data, the control unit determines whether the instruction identification code is correct. If the instruction identification code is correct, the timestamp information received by the control unit for the first time is used as the initial value. Subsequently, each received timestamp information was recorded as follows: . judge Is it greater than ;like Greater than If the control unit reports a normal status, it will update the data. = ;like Not greater than If the command identification code is incorrect, the control unit reports a suspected interception status. If the command identification code is incorrect, the process ends. A correct command identification code means that the start frame, end frame, and identification code have all passed verification; an incorrect command identification code means that the start frame, end frame, and identification code have all failed verification.

[0084] The specific implementation process for judging data frequency anomalies includes: uniform sampling analysis. Within a given time period, the frequency of receiving legitimate data packets is as follows: Under normal system conditions, the control unit's data reception frequency should not exceed the remote control unit's data transmission frequency. If an external entity sends false or deceptive commands or other valid protocol data to the system to intercept control, the control unit's data reception frequency sampling result will exceed the normal value. This type of anomaly is determined to be an intercepted state.

[0085] The specific handling methods for judging abnormal data frequency are as follows:

[0086] The confidence level (i.e., whether it is a valid data packet) of the valid instruction data is determined using formula (1). When the control unit receives the first... If the instruction identification code in the frame data is correct, then the data confidence level will be increased. Set to 1, otherwise set the data confidence level. Set to 0.

[0087] , formula (1);

[0088] Determine the number of valid instructions using formula (2) The sampling period The data frames received by the control unit within a few seconds are sorted according to their time relationship, and the sequence is as follows: The ordering relationship of the sequence does not affect the statistical results, meaning that the judgment of data frequency anomalies is not affected by timestamp disturbances.

[0089] , formula (2);

[0090] The data sampling frequency f is calculated using formula (3), where T represents the time period for the remote control unit to send instructions to the control unit (e.g., sending a data packet every 20 milliseconds). This represents the uniform sampling time period of the control unit. The value of m above represents the number of data frames. When f ≥ 100%, the control unit determines that the remotely controlled unmanned equipment is in a state of being intercepted.

[0091] , formula (3).

[0092] S303: The control unit reports self-judgment information and executes actions based on the judgment result.

[0093] The control unit reports self-judgment information to the remote control unit and automatically executes emergency response actions based on the judgment result. When the status is judged as "normal", the control unit parses the command and controls the actuator to work normally; when the status is judged as "suspected of being intercepted", the control unit does not execute the command. If the status is judged as "suspected of being intercepted" for a long time, the control unit immediately drives the actuator to enter the equipment standby response state; when the status is "intercepted", the control unit does not execute any control command and controls the actuator to enter the equipment intercepted shutdown alarm state.

[0094] S304: The remote control unit receives the reported self-judgment information and makes a self-judgment of the intercepted status, while prompting the user.

[0095] The remote control unit receives self-assessment information reported by the control unit and makes a self-assessment of the interception status, while simultaneously alerting the user. When the remote control unit first receives a "suspected interception" status feedback from the control unit's timestamp information anomaly assessment, the remote control unit updates the dynamic token information in the authentication command to invalidate the old authentication command and eliminate the judgment interference caused by signal disturbance. If the remote control unit continues to receive "suspected interception" status feedback, it indicates that the system may be under external attack. The remote control unit immediately sends a device standby command to the control unit and provides the user with corresponding "suspected interception" alarm information in the form of graphics, text, or audio. If the remote control unit loses connection with the unmanned platform at this time, the remote control unit changes the abnormal status from "suspected interception" to "intercepted".

[0096] When the remote control unit receives a "intercepted" status feedback, it immediately sends a device shutdown alarm command to the control unit and alerts the user, using graphic or audio means, to the extent that the device has been intercepted. When the reported information is "normal," the remote control unit determines whether a "suspected interception" or "intercepted" alarm has been triggered. If an alarm has been triggered, the remote control unit prompts the user, using graphic or audio means, that "the interception status has been cleared," and the remote control unit resumes normal operation. Simultaneously, all alarm control statuses are cleared, and the remote control unit restores control commands to normal operating commands.

[0097] The above-mentioned facts propose a self-judgment scheme for the interception status of remotely controlled unmanned equipment. This scheme enables the remotely controlled unmanned equipment to autonomously determine its interception status and automatically respond to emergencies. Both the remote end and the equipment end can determine the interception status in real time. When an interception status is detected, the remote end can immediately alert the user, and both the equipment end and the remote end can automatically respond to emergencies, effectively preventing the equipment from being intercepted.

[0098] This application provides a remote-controlled unmanned equipment status detection system, which may include:

[0099] The format determination module is used to determine whether the data packet received from the remote end conforms to a preset format.

[0100] The data packet setting module is used to set the data packet as the i-th valid data packet received by the remotely controlled unmanned equipment if the data packet conforms to the preset format.

[0101] The time determination module is used to compare the timestamp of the i-th legitimate data packet with a reference timestamp, and determine that the remote-controlled unmanned equipment is in a suspected interception state when the timestamp of the i-th legitimate data packet is earlier than the reference timestamp; wherein, the reference timestamp is the timestamp of the j-th legitimate data packet, and j is less than i;

[0102] The frequency determination module is used to calculate the data transmission frequency of the remote end based on the number of legitimate data packets received within a preset time period, and to determine that the remote-controlled unmanned equipment is in an intercepted state when the data transmission frequency is greater than the critical frequency.

[0103] In this embodiment, upon receiving a data packet from a remote end, if the data packet conforms to a preset format, it is designated as the i-th legitimate data packet received by the remotely controlled unmanned equipment (UAV). This eliminates interference from incorrectly formatted data packets in subsequent judgments, ensuring the accuracy of data processing. After obtaining the i-th legitimate data packet, this embodiment detects the state of the UAV based on both the timestamp and the data transmission frequency. Specifically, this embodiment compares the timestamp of the i-th legitimate data packet with the timestamp of the previously received j-th legitimate data packet. If the timestamp of the i-th data packet is earlier than the reference timestamp, the UAV is determined to be in a suspected interception state. This method can detect cases of data packet tampering or replay attacks. This embodiment also analyzes the data transmission frequency. If the data transmission frequency exceeds a set critical frequency, the UAV is determined to be in an interception state. This method can detect situations where attackers frequently send data packets to achieve interference or control. The above scheme can analyze data packets based on multiple dimensions, enabling the UAV to autonomously determine its interception state and improving equipment security.

[0104] Furthermore, it also includes:

[0105] The timestamp update module is used to update the reference timestamp to the timestamp of the i-th valid data packet if the timestamp of the i-th valid data packet is not earlier than the reference timestamp after comparing the timestamp of the i-th valid data packet with the reference timestamp.

[0106] Furthermore, the process by which the format determination module determines whether the data packet conforms to the preset format includes: extracting the start frame, end frame, identification code, and dynamic token information from the data packet; determining whether the start frame, end frame, identification code, and dynamic token information are all correct; if so, determining that the data packet conforms to the preset format; if not, determining that the data packet does not conform to the preset format.

[0107] Furthermore, it also includes:

[0108] The first prompting module is used to send a prompting message corresponding to the suspected interception state to the remote terminal after determining that the remote-controlled unmanned equipment is in a suspected interception state, so that the remote terminal sends a data packet containing dynamic token update information to the remote-controlled unmanned equipment.

[0109] The judgment module is used to determine whether the kth legitimate data packet received by the remotely controlled unmanned equipment contains the dynamic token update information if the timestamp of the kth legitimate data packet is not earlier than the reference timestamp; k is greater than i; if so, the standard dynamic token information stored in the remotely controlled unmanned equipment is updated according to the dynamic token update information; wherein, the standard dynamic token information is used to determine whether the dynamic token information in the legitimate data packet is correct.

[0110] Furthermore, it also includes:

[0111] The second prompting module is used to send a prompting message corresponding to the interception state to the remote terminal after determining that the remote-controlled unmanned equipment is in an interception state, so that the remote terminal sends a stop command to the remote-controlled unmanned equipment; wherein, the remote terminal is also used to determine that the remote-controlled unmanned equipment is in an interception state when it receives a prompting message corresponding to a suspected interception state and disconnects from the remote-controlled unmanned equipment.

[0112] Furthermore, it also includes:

[0113] The data packet processing module is configured to, after determining that the remote-controlled unmanned equipment is in a suspected interception state, not respond to the i-th legitimate data packet and discard the i-th legitimate data packet;

[0114] The status update module is used to determine that the remote-controlled unmanned equipment is not in a suspected interception state if the timestamp of the (i+1)th legitimate data packet is not earlier than the reference timestamp; it is also used to determine that the remote-controlled unmanned equipment is in an interception state if the timestamps of n consecutive newly received legitimate data packets are all earlier than the reference timestamp.

[0115] Furthermore, it also includes:

[0116] The frequency change determination module is used to determine the data transmission frequency change information of the remote end after calculating the data transmission frequency of the remote end based on the number of legal data packets received within a preset time period.

[0117] The feature determination module is used to query the current task type of the remotely controlled unmanned equipment and determine the data transmission features corresponding to the current task type; wherein, the data transmission features include the maximum data transmission frequency and / or the change in the maximum data transmission frequency;

[0118] The status determination module is used to determine that the remote-controlled unmanned equipment is in an intercepted state if the data transmission frequency change information does not conform to the data transmission characteristics.

[0119] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0120] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0121] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0122] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0123] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for state detection of remotely controlled unmanned equipment, characterized in that, include: If a data packet is received from a remote end, determine whether the data packet conforms to a preset format; If the data packet conforms to the preset format, then the data packet is set as the i-th valid data packet received by the remotely controlled unmanned equipment; The timestamp of the i-th legitimate data packet is compared with the reference timestamp, and the remote-controlled unmanned equipment is determined to be in a suspected interception state when the timestamp of the i-th legitimate data packet is earlier than the reference timestamp; wherein, the reference timestamp is the timestamp of the j-th legitimate data packet, and j is less than i; The remote terminal calculates the data transmission frequency based on the number of legitimate data packets received within a preset time period, and determines that the remote-controlled unmanned equipment is in an intercepted state when the data transmission frequency is greater than a critical frequency.

2. The state detection method for remotely controlled unmanned equipment according to claim 1, characterized in that, After comparing the timestamp of the i-th valid data packet with the reference timestamp, the process further includes: If the timestamp of the i-th valid data packet is not earlier than the reference timestamp, then the reference timestamp is updated to the timestamp of the i-th valid data packet.

3. The state detection method for remotely controlled unmanned equipment according to claim 1, characterized in that, Determining whether the data packet conforms to a preset format includes: Extract the start frame, end frame, identity code, and dynamic token information from the data packet; Determine whether the start frame, the end frame, the identity verification code, and the dynamic token information are all correct; If so, the data packet is determined to conform to the preset format; If not, the data packet is determined to be inconsistent with the preset format.

4. The state detection method for remotely controlled unmanned equipment according to claim 3, characterized in that, After determining that the remotely controlled unmanned equipment is in a suspected interception state, the following steps are also included: Send a notification message to the remote terminal indicating a suspected interception status, so that the remote terminal sends a data packet containing dynamic token update information to the remotely controlled unmanned equipment; If the timestamp of the kth legitimate data packet received by the remotely controlled unmanned equipment is not earlier than the reference timestamp, then it is determined whether the kth legitimate data packet contains the dynamic token update information; k is greater than i; If so, the standard dynamic token information stored in the remote-controlled unmanned equipment is updated according to the dynamic token update information; wherein, the standard dynamic token information is used to determine whether the dynamic token information in the legitimate data packet is correct.

5. The state detection method for remotely controlled unmanned equipment according to claim 1, characterized in that, After determining that the remote-controlled unmanned equipment is in a state of interception, the process also includes: Send a notification message corresponding to the intercepted status to the remote terminal so that the remote terminal sends a stop command to the remote-controlled unmanned equipment; The remote terminal is also used to determine that the remote-controlled unmanned equipment is in a state of being intercepted when it receives a prompt message corresponding to a suspected interception state and disconnects from the remote-controlled unmanned equipment.

6. The state detection method for remotely controlled unmanned equipment according to claim 1, characterized in that, After determining that the remotely controlled unmanned equipment is in a suspected interception state, the following steps are also included: No response is given to the i-th valid data packet, and the i-th valid data packet is discarded; If the timestamp of the (i+1)th valid data packet is not earlier than the reference timestamp, then it is determined that the remote-controlled unmanned equipment is not in a suspected interception state. If the timestamps of n consecutive newly received legitimate data packets are all earlier than the reference timestamp, then the remote-controlled unmanned equipment is determined to be in an intercepted state.

7. The state detection method for remotely controlled unmanned equipment according to claim 1, characterized in that, After calculating the data transmission frequency of the remote end based on the number of legitimate data packets received within a preset time period, the method further includes: Determine the data transmission frequency change information of the remote end; The current task type of the remotely controlled unmanned equipment is queried, and the data transmission characteristics corresponding to the current task type are determined; wherein, the data transmission characteristics include the maximum data transmission frequency and / or the change in the maximum data transmission frequency; If the data transmission frequency change information does not conform to the data transmission characteristics, then the remote-controlled unmanned equipment is determined to be in an intercepted state.

8. A remote-controlled unmanned equipment status monitoring system, characterized in that, include: The format determination module is used to determine whether the data packet received from the remote end conforms to a preset format. The data packet setting module is used to set the data packet as the i-th valid data packet received by the remotely controlled unmanned equipment if the data packet conforms to the preset format. The time determination module is used to compare the timestamp of the i-th legitimate data packet with a reference timestamp, and determine that the remote-controlled unmanned equipment is in a suspected interception state when the timestamp of the i-th legitimate data packet is earlier than the reference timestamp; wherein, the reference timestamp is the timestamp of the j-th legitimate data packet, and j is less than i; The frequency determination module is used to calculate the data transmission frequency of the remote end based on the number of legitimate data packets received within a preset time period, and to determine that the remote-controlled unmanned equipment is in an intercepted state when the data transmission frequency is greater than the critical frequency.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the state detection method for remotely controlled unmanned equipment as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the state detection method for remotely controlled unmanned equipment as described in any one of claims 1 to 7.

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