An encryption method, device and medium for dynamic data of a UAV

Abstract

The application provides an encryption method, device and medium for unmanned aerial vehicle dynamic data, and relates to the technical field of data encryption. The method divides airspace into a plurality of initial airspace grids according to a preset longitude interval and a preset latitude interval, and determines a target airspace grid corresponding to the unmanned aerial vehicle dynamic data. Based on an AES-CBC encryption mode, the unmanned aerial vehicle dynamic data is encrypted using an AES key and an initialization vector corresponding to the target airspace grid. Based on a preset access control strategy tree corresponding to the target airspace grid, the AES key and the initialization vector corresponding to the target airspace grid are encrypted using a CP-ABE encryption algorithm. Thus, an encryption result of the unmanned aerial vehicle dynamic data is obtained. Each initial airspace grid is taken as an independent encryption and authorization unit, and fine-grained access control is realized through a hybrid encryption architecture, which can effectively prevent unauthorized access and avoid the calculation, storage and transmission overhead caused by traditional multi-copy encryption.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data encryption, in particular to an encryption method, device and medium for dynamic data of an unmanned aerial vehicle. BACKGROUND

[0002] With the rapid development of low-altitude economy in China, unmanned aerial vehicles are widely used in many industries such as city inspection, logistics transportation, emergency rescue, and agricultural plant protection. During the operation of the unmanned aerial vehicle, dynamic data of the unmanned aerial vehicle needs to be continuously reported to support airspace supervision and collaborative management. However, the dynamic data of the unmanned aerial vehicle can depict the real-time trajectory and operation behavior of the unmanned aerial vehicle, and contains a large amount of sensitive information. Once leaked, it may expose the task range, operation target and even the identity of the operation subject, causing serious security and privacy risks. Therefore, the dynamic data of the unmanned aerial vehicle needs to be encrypted.

[0003] In the prior art, the dynamic data of the unmanned aerial vehicle is usually received by the regulatory department, and a symmetric encryption algorithm is used to encrypt the dynamic data of the unmanned aerial vehicle, including:

[0004] 1) using a single globally shared key to uniformly encrypt all dynamic data of the unmanned aerial vehicle;

[0005] 2) assigning independent symmetric keys to different authorized regulatory departments, and encrypting the same dynamic data separately to generate multiple ciphertext copies.

[0006] However, the above method also has the following technical problems:

[0007] On the one hand, the access rights of different authorized regulatory departments are different. If a single globally shared key is used to uniformly encrypt all dynamic data of the unmanned aerial vehicle, all authorized regulatory departments can decrypt all data, and fine-grained access control cannot be achieved. On the other hand, assigning independent symmetric keys to different authorized regulatory departments and encrypting the same dynamic data separately to generate multiple ciphertext copies will result in a sharp increase in key management complexity, and will also bring significant computational, storage and network transmission overheads, making it difficult to adapt to the needs of high-frequency, massive and real-time data flow of the dynamic data of the unmanned aerial vehicle in the low-altitude regulatory scenario. SUMMARY

[0008] To solve the above technical problems, the technical solution adopted by the present application is as follows:

[0009] According to a first aspect of the present application, an encryption method for dynamic data of an unmanned aerial vehicle is provided, the method comprising the following steps:

[0010] S1, dividing the airspace into a plurality of initial airspace grids according to a preset longitude interval and a preset latitude interval; wherein the initial airspace grid is a two-dimensional grid.

[0011] S2, after receiving the UAV dynamic data, determining a target airspace grid corresponding to the UAV dynamic data from a plurality of initial airspace grids based on the longitude and latitude coordinates corresponding to the UAV dynamic data.

[0012] S3, based on the AES-CBC encryption mode, encrypting the UAV dynamic data using the AES key and the initialization vector corresponding to the target airspace grid to obtain first ciphertext.

[0013] S4, based on the preset access control policy tree corresponding to the target airspace grid, encrypting the AES key and the initialization vector corresponding to the target airspace grid using the CP-ABE encryption algorithm to obtain second ciphertext.

[0014] S5, encapsulating the target encrypted data as structured data, and taking the structured data as the encryption result of the UAV dynamic data, wherein the target encrypted data at least includes the first ciphertext and the second ciphertext.

[0015] According to a second aspect of the present application, a non-transitory computer readable storage medium is provided, the storage medium storing a computer program, the computer program being loaded and executed by a processor to implement the method described above.

[0016] According to a third aspect of the present application, an electronic device is provided, comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the method described above when executing the computer program.

[0017] The present application has at least the following beneficial effects:

[0018] The application provides an encryption method, device and medium for unmanned aerial vehicle dynamic data, the method divides airspace into a plurality of initial airspace grids according to a preset longitude interval and a preset latitude interval; after receiving the unmanned aerial vehicle dynamic data, a target airspace grid corresponding to the unmanned aerial vehicle dynamic data is determined from the plurality of initial airspace grids based on the longitude and latitude coordinates corresponding to the unmanned aerial vehicle dynamic data; the unmanned aerial vehicle dynamic data is encrypted based on an AES-CBC encryption mode, using an AES key and an initialization vector corresponding to the target airspace grid, to obtain first ciphertext; the AES key and the initialization vector corresponding to the target airspace grid are encrypted based on a preset access control strategy tree corresponding to the target airspace grid, using a CP-ABE encryption algorithm, to obtain second ciphertext; the target encrypted data at least including the first ciphertext and the second ciphertext is packaged as structured data, and the structured data is taken as an encryption result of the unmanned aerial vehicle dynamic data. It can be known that the application takes each initial airspace grid as an independent encryption and authorization unit, and realizes fine-grained access control through a hybrid encryption architecture: different regulatory departments can only decrypt relevant data when the attributes thereof meet the corresponding airspace strategy, which can effectively prevent unauthorized access; meanwhile, only one piece of ciphertext is generated for each unmanned aerial vehicle dynamic data, avoiding the calculation, storage and transmission overheads caused by traditional multi-copy encryption, and being capable of efficiently supporting the high-frequency, massive and real-time flow requirements of unmanned aerial vehicle dynamic data in a low-altitude supervision scenario. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0020] Figure 1 A flowchart of an encryption method for unmanned aerial vehicle dynamic data is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present application.

[0022] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the application and the above-described drawings, are used to distinguish similar tasks, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] The application provides an encryption method for unmanned aerial vehicle dynamic data, which comprises the following steps, as shown in the description. Figure 1

[0024] S1, according to the preset longitude interval and the preset latitude interval, the airspace is divided into several initial airspace grids; wherein the initial airspace grid is a two-dimensional grid.

[0025] Specifically, the preset longitude interval and the preset latitude interval are the longitude interval and the latitude interval pre-set by the person skilled in the art according to the actual demand, for example: the preset longitude interval is 3°, and the preset latitude interval is 2°, which will not be repeated here.

[0026] Specifically, any two initial airspace grids do not overlap.

[0027] S2, after receiving the unmanned aerial vehicle dynamic data, the target airspace grid corresponding to the unmanned aerial vehicle dynamic data is determined from the plurality of initial airspace grids based on the longitude and latitude coordinates corresponding to the unmanned aerial vehicle dynamic data.

[0028] Specifically, the method further comprises: receiving the unmanned aerial vehicle dynamic data in real time.

[0029] Further, after receiving each unmanned aerial vehicle dynamic data, steps S2-S5 are performed based on the received unmanned aerial vehicle dynamic data.

[0030] Specifically, the unmanned aerial vehicle dynamic data is a set of various parameters reflecting the state of the unmanned aerial vehicle and the environmental information generated in real time during the flight of the unmanned aerial vehicle, including but not limited to: unmanned aerial vehicle ID, longitude, latitude, height, speed, heading angle, pitch angle, roll angle, time stamp, flight state.

[0031] Specifically, after step S1 and before step S2, the following steps are further included:

[0032] ​generate the airspace grid code corresponding to each of the initial airspace grids based on a preset grid coding rule, and store the airspace grid code corresponding to each of the initial airspace grids into a database; wherein the airspace grid codes corresponding to different initial airspace grids are different.

[0033] Specifically, the preset grid coding rule is a grid coding rule determined by a person skilled in the art according to actual needs, and any method capable of generating a globally unique code for each airspace grid in the prior art belongs to the protection scope of the present application, for example, a grid coding rule based on row and column indexes, a grid coding rule constructed by GeoHash, or an airspace grid coding rule specified in the Technical Requirements for Digitalization of Civil Unmanned Aircraft Airspace Information, which will not be described herein.

[0034] Specifically, step S2 comprises the following sub-steps:

[0035] S21, obtaining a target grid code corresponding to the latitude and longitude coordinates based on the preset grid coding rule and the latitude and longitude coordinates.

[0036] S22, determining an initial airspace grid corresponding to the target grid code as the target airspace grid corresponding to the UAV dynamic data.

[0037] After the airspace is divided into a plurality of initial airspace grids through the above steps, a globally unique airspace grid code is generated for each initial airspace grid based on a preset grid coding rule, and is stored in a database; when the UAV dynamic database is obtained, the latitude and longitude coordinates of the UAV dynamic data can be quickly mapped to a target grid code based on the preset grid coding rule, and the corresponding target airspace grid is efficiently determined through equivalent matching, which significantly improves the positioning efficiency; further, the airspace grid code can be directly used as an airspace attribute embedded in a CP-ABE access control policy, each initial airspace grid is taken as an independent encryption and authorization unit, fine-grained authorization is realized, and unauthorized access can be effectively prevented.

[0038] S3, encrypting the UAV dynamic data based on an AES-CBC encryption mode using an AES key and an initialization vector corresponding to the target airspace grid to obtain a first ciphertext.

[0039] Specifically, the length of the AES key and the length of the initialization vector corresponding to the target airspace grid are both 128 bits.

[0040] Specifically, in the encryption process of step S3, PKCS#7 padding is used for the UAV dynamic data to meet the AES packet length requirement.

[0041] Specifically, after step S2 and before step S3, the following step is further included:

[0042] If the AES key and the initialization vector corresponding to the spatial grid code corresponding to the target spatial grid exist in the database, the AES key and the initialization vector are determined as the AES key and the initialization vector corresponding to the target spatial grid.

[0043] If the AES key and the initialization vector corresponding to the spatial grid code corresponding to the target spatial grid do not exist in the database, the AES key and the initialization vector corresponding to the target spatial grid are randomly generated and stored in the database as the AES key and the initialization vector corresponding to the spatial grid code corresponding to the target spatial grid.

[0044] Specifically, while the AES key and the initialization vector are stored in the database, the time point of generation of the AES key and the initialization vector is also stored in the database.

[0045] Specifically, for each AES key and initialization vector stored in the database, when the interval between the current time point and the time point of generation of the AES key and the initialization vector is consistent with the preset interval, the AES key and the initialization vector are deleted from the database.

[0046] Specifically, the preset interval is an interval set in advance by a person skilled in the art according to actual needs, for example, 1 hour, 2 hours, 3 hours, and will not be described here.

[0047] When the AES key and the initialization vector corresponding to the airspace grid code corresponding to the target airspace grid do not exist in the database through the above steps, it indicates that there is no recent unmanned aerial vehicle dynamic data corresponding to the target airspace grid; at this time, the AES key and the initialization vector corresponding to the target airspace grid are randomly generated to encrypt the unmanned aerial vehicle dynamic data, and the AES key and the initialization vector are stored in the database as the AES key and the initialization vector corresponding to the airspace grid code corresponding to the target airspace grid; otherwise, it indicates that there is recent unmanned aerial vehicle dynamic data corresponding to the target airspace grid, and the AES key and the initialization vector corresponding to the airspace grid code corresponding to the target airspace grid can be directly reused to encrypt the unmanned aerial vehicle dynamic data; further, when the duration of the AES key and the initialization vector in the database reaches the preset interval, the AES key and the initialization vector are deleted. The AES key and the initialization vector are dynamically managed in the unit of the initial airspace grid, which is compared with using a single global AES key and initialization vector for all unmanned aerial vehicle dynamic data or generating a new AES key and initialization vector for each unmanned aerial vehicle dynamic data; it can not only avoid that all authorized regulatory departments can access all unmanned aerial vehicle dynamic data, cannot realize fine-grained access isolation based on jurisdiction airspace or responsibility division, and cause serious data unauthorized access risk, but also avoid frequent generation of AES keys and initialization vectors, which significantly reduces the calculation amount of encryption operation; at the same time, the key validity period limits the data amount and time window encrypted by a single key, reduces the key leakage risk, and can efficiently support the security flow demand of high-frequency and massive dynamic data in the low-altitude supervision scene.

[0048] S4, encrypt the AES key and the initialization vector corresponding to the target airspace grid using a CP-ABE encryption algorithm based on the preset access control policy tree corresponding to the target airspace grid to obtain a second ciphertext.

[0049] Specifically, the second ciphertext includes the preset access control policy tree corresponding to the target airspace grid.

[0050] Specifically, the preset access control policy tree corresponding to the target airspace grid is generated based on a static attribute set corresponding to the target airspace grid and a preset access policy; wherein the preset access control policy tree defines which attribute combination can decrypt the unmanned aerial vehicle data corresponding to the target airspace grid in the form of a logical expression.

[0051] Specifically, the static attribute set corresponding to the target airspace grid includes a plurality of static attributes, the static attributes being attributes that are not updated in real time with dynamic changes in flight of the unmanned aerial vehicle, including but not limited to: airspace grid encoding, administrative region, airspace type, allowable flight height range, authorized regulatory department identifier, data sensitivity level; wherein the administrative region is used to indicate the administrative division information of the province, city, district, etc. to which the target airspace grid belongs; the airspace type is used to indicate the type of the airspace corresponding to the target airspace grid, for example: urban core area, no-fly zone; the allowable flight height range is used to indicate the vertical height interval in which the unmanned aerial vehicle can fly within the target airspace grid, for example: [0m, 120m]; the authorized regulatory department identifier is used to indicate the set of department identifiers that have the regulatory authority over the dynamic data of the unmanned aerial vehicle corresponding to the target airspace grid, for example: {emergency, traffic, public security}; and the data sensitivity level is used to indicate the security level of the dynamic data of the unmanned aerial vehicle corresponding to the target airspace grid, for example: public, internal, confidential.

[0052] Specifically, the preset access policy is an access policy that is pre-set by a person skilled in the art according to actual needs, and will not be described here.

[0053] Further, the preset access control policy tree, the static attribute set and the preset access policy corresponding to the target airspace grid are all stored in the database.

[0054] Specifically, before step S4, the following step is further included for initializing the CP-ABE system parameters, generating a system public key PK and a master private key MK:

[0055] S01, determine two bilinear groups G0 and G1 of prime order p, and a bilinear mapping e: G0xG0→G1; wherein the generator of G0 is g, and p is a preset prime number.

[0056] S02, randomly select a first random number a and a second random number b from the set of non-zero integers Z * p p under the modulus p, wherein Z * p ={1, 2,..., p-1}.

[0057] S03, based on a and b, obtain PK and MK, wherein PK and MK satisfy the following conditions respectively:

[0058] PK=(G0, g, h=g β , f=g 1 / β , e(g,g) α ); MK=(b, g α ).

[0059] Specifically, PK is used to CP-ABE encrypt the AES key and the initialization vector corresponding to the target airspace grid.

[0060] Specifically, the MK is securely stored by a key generation center, and is used to generate a decryption private key.

[0061] Specifically, after step S03, the following step is further included, i.e., generating a corresponding decryption private key for the decryption party:

[0062] S001, based on the authorization information corresponding to the access authority of the decryption party, obtaining an attribute set A corresponding to the decryption party, the attribute set A including a plurality of attributes corresponding to the decryption party, and the plurality of attributes including at least one airspace grid code.

[0063] In one specific embodiment, the decryption party is an authorized regulatory department.

[0064] Specifically, after receiving the authorization information corresponding to the access authority submitted by the decryption party, the authorization information is verified for legality to determine that the decryption party has a legal data access qualification; wherein the authorization information includes but is not limited to the decryption party identifier, the responsibility type corresponding to the decryption party, the administrative region corresponding to the decryption party, and the airspace range authorized to be accessed by the decryption party; any method for verifying the legality of the authorization information in the prior art is within the protection scope of the present application, for example, identity authentication based on digital certificate, which will not be described herein.

[0065] Further, after the verification passes, the attribute set corresponding to the decryption party is generated according to the authorization information.

[0066] Specifically, the attribute set corresponding to the decryption party further includes the decryption party identifier, the responsibility type corresponding to the decryption party, the administrative region corresponding to the decryption party, and the like.

[0067] S002, a third random number r is randomly selected from Z * p .

[0068] S003, a fourth random number J(y) corresponding to the yth attribute in A is randomly selected from the integer set Z p under the modulus p; wherein Z p ={0, 1, …, p-1}, 1≤y≤q, q is the number of attributes in A.

[0069] S004, based on a hash function H: {0, 1} * →G0, the yth attribute in A is mapped to an element in G0to obtain an element value H(y) corresponding to the yth attribute in A.

[0070] S005, based on α, β, g, r, J(y), and H(y), a decryption private key SK corresponding to the decryption party is obtained, and the decryption private key SK satisfies the following conditions:

[0071] SK=(D,(E1,F1),(E2,F2),…,(E y ,F y ), ..., (E q F q Where D is the first decryption private key element corresponding to the decryptor, and E... y F is the second decryption private key element associated with the y-th attribute in A. y The third decryption private key element associated with the y-th attribute in A; D, E y and F y Each of the following conditions must be met:

[0072] D=g (α+r) / β E y =g r ×H(y) J(y) ;F y =g J(y) .

[0073] Specifically, after generating the decryption private key corresponding to the decryptor, the decryption private key is sent to the decryptor.

[0074] S5. Encapsulate the target encrypted data into structured data, and use the structured data as the encryption result of the UAV dynamic data; wherein, the target encrypted data includes at least the first ciphertext and the second ciphertext.

[0075] Optionally, the target encrypted data may also include the spatial grid code corresponding to the target spatial grid.

[0076] Specifically, the method is applied to a regulatory platform.

[0077] Through the above steps, after receiving the unmanned aerial vehicle dynamic data, the target airspace grid corresponding to the unmanned aerial vehicle dynamic data is determined from a plurality of initial airspace grids based on the latitude and longitude coordinates corresponding to the unmanned aerial vehicle dynamic data; the unmanned aerial vehicle dynamic data is encrypted based on the AES-CBC encryption mode using the AES key and the initialization vector corresponding to the target airspace grid to obtain the first ciphertext; the AES key and the initialization vector corresponding to the target airspace grid are encrypted based on the preset access control policy tree corresponding to the target airspace grid using the CP-ABE encryption algorithm to obtain the second ciphertext; the target encrypted data including at least the first ciphertext and the second ciphertext is encapsulated as structured data, and the structured data is taken as the encryption result of the unmanned aerial vehicle dynamic data; each initial airspace grid is taken as an independent encryption and authorization unit, and fine-grained access control is realized through a hybrid encryption architecture: different regulatory departments can only decrypt related data when their attributes meet the corresponding airspace policy, which can effectively prevent unauthorized access; at the same time, only one ciphertext is generated for each unmanned aerial vehicle dynamic data, avoiding the calculation, storage and transmission overheads caused by traditional multi-copy encryption, and efficiently supporting the high-frequency, massive and real-time flow requirements of unmanned aerial vehicle dynamic data in low-altitude supervision scenarios.

[0078] Further, CP-ABE is a non-symmetric encryption algorithm based on a bilinear group, and its encryption and decryption process involves multiple group exponentiation and bilinear pairing operations, and the calculation overhead is significantly higher than that of symmetric encryption. If CP-ABE encryption is directly performed on each unmanned aerial vehicle dynamic data, it will be difficult to meet the real-time processing requirements in a high-concurrency flight scenario; in addition, dynamically constructing an access policy based on accurate latitude and longitude for each data will lead to frequent reconstruction of the access control tree, complex policy management, ciphertext volume expansion, high calculation cost and low transmission efficiency. Compared with using only the CP-ABE encryption algorithm to encrypt each unmanned aerial vehicle dynamic data, the present application divides the initial airspace grid and uses a hybrid encryption architecture to encrypt the unmanned aerial vehicle dynamic data, which not only avoids high-frequency CP-ABE operations, but also realizes fine-grained permission control oriented to airspace, effectively supporting secure, efficient and scalable data distribution under multi-department collaborative supervision.

[0079] Specifically, after step S5, there is further included:

[0080] S6, publishing the encryption result of the unmanned aerial vehicle dynamic data to a data distribution queue for pulling and decryption by a decryption party.

[0081] In a specific embodiment, after pulling the encrypted result of the UAV dynamic data, the decrypting party decrypts the second ciphertext in the encrypted result of the UAV dynamic data based on the decrypting private key corresponding to the decrypting party; wherein if the attribute set corresponding to the decrypting private key satisfies the access policy corresponding to the preset access control policy tree in the second ciphertext, the preset access control policy tree can be recursively traversed from bottom to top, and the reconstruction is performed in combination with the secret sharing of Lagrange interpolation, so that the AES symmetric key and the initialization vector used for data encryption are successfully recovered; otherwise, the decryption fails; further, based on the successfully recovered AES key and the initialization vector, the AES decryption operation is performed on the first ciphertext to obtain the original UAV dynamic data.

[0082] The embodiments of the present application further provide a non-transitory computer readable storage medium, which can be arranged in an electronic device to save a computer program related to a method in the method embodiments, and the computer program is loaded and executed by the processor to implement the method provided by the above embodiments.

[0083] The embodiments of the present application further provide an electronic device, which comprises a processor, a memory and a computer program stored in the memory and executable on the processor, and the processor implements the method provided by the above embodiments when executing the computer program.

[0084] The embodiments of the present application further provide a computer program product, which comprises program codes, and the program codes are used to make the electronic device execute the steps in the method according to various exemplary embodiments of the present application described in the specification when the program product is executed on the electronic device.

[0085] The application provides a method, device and medium for encrypting unmanned aerial vehicle dynamic data, the method comprises the following steps: dividing airspace into a plurality of initial airspace grids according to a preset longitude interval and a preset latitude interval; after receiving the unmanned aerial vehicle dynamic data, determining a target airspace grid corresponding to the unmanned aerial vehicle dynamic data from the plurality of initial airspace grids based on longitude and latitude coordinates corresponding to the unmanned aerial vehicle dynamic data; encrypting the unmanned aerial vehicle dynamic data based on an AES-CBC encryption mode, using an AES key and an initialization vector corresponding to the target airspace grid to obtain first ciphertext; encrypting the AES key and the initialization vector corresponding to the target airspace grid based on a preset access control strategy tree corresponding to the target airspace grid, using a CP-ABE encryption algorithm to obtain second ciphertext; packaging target encryption data at least comprising the first ciphertext and the second ciphertext into structured data, and taking the structured data as an encryption result of the unmanned aerial vehicle dynamic data. It can be known that the application takes each initial airspace grid as an independent encryption and authorization unit, and realizes fine-grained access control through a hybrid encryption architecture: different regulatory departments can only decrypt relevant data when the attributes thereof meet corresponding airspace strategies, which can effectively prevent unauthorized access; meanwhile, only one piece of ciphertext is generated for each unmanned aerial vehicle dynamic data, avoiding the calculation, storage and transmission overhead caused by traditional multi-copy encryption, and being capable of efficiently supporting high-frequency, massive and real-time flow requirements of unmanned aerial vehicle dynamic data in a low-altitude supervision scenario.

[0086] Although some specific embodiments of the application have been described in detail by way of example, it should be understood that the examples are for illustrative purposes only and are not intended to limit the scope of the application. Those skilled in the art should understand that various modifications can be made to the embodiments without departing from the scope and spirit of the application.

Claims

1. A method for encrypting dynamic data of a drone, characterized in that, The method comprises the following steps: S1, dividing the airspace into a plurality of initial airspace grids according to a preset longitude interval and a preset latitude interval; wherein the initial airspace grid is a two-dimensional grid; S2, after receiving the UAV dynamic data, determining the target airspace grid corresponding to the UAV dynamic data from the plurality of initial airspace grids based on the longitude and latitude coordinates corresponding to the UAV dynamic data; S3, encrypting the UAV dynamic data using the AES key and the initialization vector corresponding to the target airspace grid based on the AES-CBC encryption mode to obtain first ciphertext; After step S2 and before step S3, the method further comprises the following steps: If the database contains the AES key and the initialization vector corresponding to the airspace grid code corresponding to the target airspace grid, the AES key and the initialization vector are determined as the AES key and the initialization vector corresponding to the target airspace grid; if the database does not contain the AES key and the initialization vector corresponding to the airspace grid code corresponding to the target airspace grid, the AES key and the initialization vector corresponding to the target airspace grid are randomly generated and stored in the database as the AES key and the initialization vector corresponding to the airspace grid code corresponding to the target airspace grid; For each AES key and initialization vector stored in the database, if the interval between the current time point and the generation time point corresponding to the AES key and the initialization vector is consistent with the preset interval length, the AES key and the initialization vector are deleted from the database; S4, encrypting the AES key and the initialization vector corresponding to the target airspace grid using the CP-ABE encryption algorithm based on the preset access control policy tree corresponding to the target airspace grid to obtain second ciphertext; S5, packaging the target encrypted data into structured data, and taking the structured data as the encryption result of the UAV dynamic data; wherein the target encrypted data at least includes the first ciphertext and the second ciphertext.

2. The encryption method for dynamic data of a UAV according to claim 1, wherein, After step S1 and before step S2, the method further comprises the following steps: Generating the airspace grid code corresponding to each initial airspace grid based on the preset grid encoding rule, and storing the airspace grid code corresponding to each initial airspace grid in the database; wherein the airspace grid codes corresponding to different initial airspace grids are different.

3. The encryption method for dynamic data of a UAV according to claim 2, wherein, In step S2, the following sub-steps are included: S21, obtaining the target grid code corresponding to the longitude and latitude coordinates based on the preset grid encoding rule and the longitude and latitude coordinates; S22, determining the initial airspace grid corresponding to the airspace grid code identical to the target grid code as the target airspace grid corresponding to the UAV dynamic data.

4. The encryption method for dynamic data of a UAV according to claim 1, wherein, When storing the AES key and the initialization vector in the database, the generation time point corresponding to the AES key and the initialization vector is also stored in the database.

5. The encryption method for dynamic data of UAV according to claim 1, characterized in that, The length of the AES key and the length of the initialization vector corresponding to the target airspace grid are both 128 bits.

6. A non-transitory computer-readable storage medium, comprising: The storage medium stores a computer program, and the computer program is loaded and executed by the processor to realize the encryption method for dynamic data of the unmanned aerial vehicle according to any one of claims 1-5.

7. An electronic device comprising: The processor, the memory, and the computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to realize the encryption method for dynamic data of the unmanned aerial vehicle according to any one of claims 1-5.

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