Unmanned aerial vehicle supervision method, system and device based on smart identity card

Abstract

The application discloses a method, system and device for unmanned aerial vehicle supervision based on an intelligent identity card, and relates to the technical field of unmanned aerial vehicles.The method comprises the following steps: verifying unmanned aerial vehicle operation information according to identity permission mapping to determine a supervision state; dividing an open working channel and a controlled suppression channel to generate a frequency hopping strategy; controlling the unmanned aerial vehicle to switch to the open channel by the identity card, synchronously suppressing the controlled channel by a suppression device, and respectively feeding back execution states; checking the execution result of the strategy by a platform and updating the supervision state, re-generating the strategy if the execution does not conform, and entering the next cycle if the execution conforms and further supervision is required.The technical problem that, in the existing supervision, the switching of compliant unmanned aerial vehicle channels and anti-unmanned aerial vehicle radio suppression are independent of each other, leading to the fact that suppression signals easily interfere with compliant unmanned aerial vehicle communication, is solved, and the technical effect that compliant unmanned aerial vehicle switching to an open working channel and the implementation of suppression on a controlled suppression channel are synchronously controlled by a unified frequency hopping control strategy, and closed-loop control of channel switching and radio suppression is achieved, is achieved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to UAV monitoring methods, systems, and devices based on smart identity cards. Background Technology

[0002] With the development of the low-altitude economy, drones have been widely used in agricultural and forestry plant protection, logistics and transportation, power line inspection, surveying and mapping, and emergency rescue. The increasing number of drones and the frequency of their flights mean that authorized compliant drones, unidentified drones, and drones flying illegally may coexist in the same airspace, placing higher demands on drone identification, authorization verification, and radio control.

[0003] Current drone monitoring typically uses drone serial numbers, remote identification codes, or broadcast information to identify drones, and combines this with location data to determine their flight positions. However, single identification codes are susceptible to copying or impersonation, and there is a lack of stable verification mechanisms linking drone identity with authorized airspace, flight time, and flight permissions, making it difficult for monitoring platforms to accurately distinguish between compliant and non-compliant drones. Furthermore, drone telemetry, data transmission, and image transmission require wireless channels, and spectrum usage varies dynamically across different regions and time periods. Existing drones typically use fixed channels or independently hop frequencies, and the channel adjustment process is not effectively linked to airspace monitoring status and anti-drone handling procedures. In addition, existing anti-drone radio suppression equipment generally suppresses frequencies used by suspected drones using fixed-frequency, sweep-frequency, or broadband suppression based on detection results. Because there is a lack of unified channel allocation and switching sequence between suppression equipment and compliant drones, suppression equipment, while blocking the communication of non-compliant drones, can easily interfere with the telemetry and control links of compliant drones in the same airspace, affecting their normal flight and operational safety.

[0004] Therefore, existing technologies suffer from insufficient verification of drone identity and permissions, independent channel switching for compliant drones and radio suppression of anti-drone drones, and a lack of closed-loop verification of strategy execution results. This makes it difficult to implement targeted radio suppression of non-open working channels while ensuring normal communication for compliant drones. Summary of the Invention

[0005] This application provides a method, system, and device for monitoring drones based on smart identity cards. It solves the technical problem that the channel switching of compliant drones and the radio suppression of anti-drone drones are independent in the existing monitoring, which makes the suppression signal easy to interfere with the communication of compliant drones. It achieves the technical effect of synchronously controlling compliant drones to switch to open working channels and suppressing controlled suppression channels through a unified frequency hopping control strategy, thereby realizing closed-loop control of channel switching and radio suppression.

[0006] The first aspect of this application provides a drone monitoring method based on a smart identity card, the method comprising: S1: The airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target UAV's operation information collected in real time by the smart identity card, and determines the real-time monitoring status; S2: The airspace control platform obtains the spectrum occupancy status of the airspace where the target UAV is located, analyzes the real-time monitoring status, spectrum occupancy status, and positioning information in the UAV's operation information, divides the target UAV's working channel into channels, and generates a frequency hopping control strategy, wherein the frequency hopping control strategy includes channel switching timing, open working channels, and controlled suppression channels; S3: The smart identity card receives and controls the target UAV to switch to the open working channel according to the channel switching timing based on the frequency hopping control strategy, and reports to the airspace control platform. S4: The anti-drone radio suppression equipment receives and suppresses the controlled suppression channels outside the open working channels according to the frequency hopping control strategy, and reports the suppression execution status to the airspace management platform; S5: The airspace management platform performs execution compliance verification of the frequency hopping control strategy according to the channel adjustment status and suppression execution status, and updates the real-time monitoring status according to the drone operation information; S6: When the frequency hopping control strategy does not comply, return to S2 to regenerate the frequency hopping control strategy. When the frequency hopping control strategy complies and the updated real-time monitoring status determines to enter the next monitoring cycle, return to S1 to re-collect the drone operation information of the target drone, and repeat S1 to S6.

[0007] A second aspect of this application provides a drone monitoring system based on a smart identity card, the system comprising: Identity Verification Unit: The airspace management platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target UAV's operation information collected in real time by the smart identity card, and determines the real-time monitoring status; Strategy Generation Unit: The airspace management platform obtains the spectrum occupancy status of the airspace where the target UAV is located, analyzes the real-time monitoring status, spectrum occupancy status, and positioning information in the UAV's operation information, divides the target UAV's working channel into channels, and generates a frequency hopping control strategy, wherein the frequency hopping control strategy includes channel switching timing, open working channels, and controlled suppression channels; Channel Adjustment Unit: The smart identity card receives and controls the target UAV to switch to the open working channel according to the channel switching timing based on the frequency hopping control strategy, and adjusts the channel to the airspace. The control platform provides feedback on the channel adjustment status; the channel suppression unit receives and suppresses controlled suppression channels outside the open working channels according to the frequency hopping control strategy, and reports the suppression execution status to the airspace control platform; the compliance verification unit performs compliance verification on the frequency hopping control strategy based on the channel adjustment status and suppression execution status, and updates the real-time monitoring status based on the UAV operation information; the loop verification unit returns to S2 to regenerate the frequency hopping control strategy when the frequency hopping control strategy is not performed correctly, and enters the next monitoring cycle when the frequency hopping control strategy is performed correctly and the updated real-time monitoring status indicates entry into the next monitoring cycle, and re-collects the UAV operation information of the target UAV, and loops the above process.

[0008] A third aspect of this application provides an electronic device, comprising: a memory for storing executable instructions; and a processor for executing the executable instructions stored in the memory to implement the drone monitoring method based on a smart identity card provided in this application.

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages: The airspace control platform verifies the drone's identity, location, and flight status collected by the smart identity card based on identity and permission relationships to determine its compliance. Subsequently, it divides the drone into open working channels and controlled suppression channels based on real-time monitoring status, location, and airspace spectrum occupancy, and establishes a corresponding channel switching sequence. Then, the smart identity card controls the target drone to switch to the open working channel according to this sequence, while the anti-drone radio suppression equipment simultaneously suppresses the remaining controlled suppression channels. Both devices provide feedback on channel adjustment status and suppression execution status, respectively. The platform then verifies whether the frequency hopping control strategy is being correctly executed based on these two types of feedback and updates the drone's real-time monitoring status. If the execution does not meet the requirements, the frequency hopping control strategy is regenerated and executed. If the implementation meets the requirements and continued supervision is still needed, the next regulatory cycle will begin. This will ensure the normal communication of compliant drones while precisely suppressing non-open channels, forming a dynamic and continuous closed loop of airspace supervision. This will solve the technical problem in the current supervision that the channel switching of compliant drones and the radio suppression of anti-drone drones are independent, which makes the suppression signals easy to interfere with the communication of compliant drones. The goal is to achieve the technical effect of closed-loop control of channel switching and radio suppression by using a unified frequency hopping control strategy to simultaneously control compliant drones to switch to open working channels and suppress controlled suppression channels. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of the drone monitoring method based on smart identity cards provided in an embodiment of this application.

[0012] Figure 2 This is a schematic diagram of the structure of a drone monitoring system based on a smart identity card, provided in an embodiment of this application.

[0013] Figure 3 This is a schematic diagram of the structure of an exemplary electronic device of this application.

[0014] Explanation of reference numerals in the attached drawings: Identity verification unit 11, policy generation unit 12, channel adjustment unit 13, channel suppression unit 14, conformity verification unit 15, cyclic verification unit 16, processor 21, memory 22, input device 23, output device 24. Detailed Implementation

[0015] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0016] Example 1, as Figure 1 As shown in the figure, this application provides a drone monitoring method based on a smart identity card, wherein the method includes: The airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target drones collected in real time by the smart identity card, and determines the real-time monitoring status.

[0017] In one embodiment, the airspace management platform pre-stores the registration identity information of the target UAV and its corresponding authorized airspace and flight permissions, thus establishing a correlation between identity and permissions as a verification benchmark. During UAV operation, the smart identity card continuously reads its native identification code and encrypted identity code, while simultaneously collecting UAV operation information such as real-time native identification code, real-time encrypted identity code, positioning information, and flight status information, and sends this information to the airspace management platform. After receiving the UAV operation information, the airspace management platform compares the real-time native identification code and real-time encrypted identity code with the pre-stored information to confirm the authenticity and validity of the UAV's identity. After identity matching, it determines whether the UAV's current location is within the authorized airspace and whether its current flight behavior complies with the corresponding flight permissions. Based on the identity matching result, airspace compliance result, and permission compliance result, the platform outputs the airspace compliance status and permission compliance status, and combines them to form a real-time monitoring status, which serves as the basis for subsequent spectrum adjustment and regulatory actions.

[0018] Furthermore, the method also includes: The smart identity card invokes the encryption module to encrypt the initial native identification code read through the smart identity card, generating an initial encrypted identity code. The target drone is equipped with a smart identity card, which has a built-in encryption module. The airspace management platform determines the authorized airspace and flight permissions of the target drone. After receiving the initial native identification code and the initial encrypted identity code, the airspace management platform establishes and stores the identity and permission association mapping between the initial native identification code, the initial encrypted identity code, the authorized airspace, and the flight permissions.

[0019] Preferably, when a target UAV registers or connects to the airspace management platform for the first time, a smart identity card is installed on the target UAV and connected to the UAV's flight control system via a serial interface, CAN bus, or other airborne communication interface. The smart identity card sends an identity reading request to the flight control system, reading the serial number, device unique identifier, or remote identifier pre-set by the UAV manufacturer as the initial native identifier, and performs format uniformity, integrity, and validity checks on it. After confirming the validity of the initial native identifier, the smart identity card calls its built-in encryption module, using the initial native identifier as the data to be encrypted, and performs encryption calculations using a card-level key or device-level key pre-stored in the encryption module's secure storage area, according to a preset encryption algorithm and encryption parameters, to obtain an initial encrypted identity code uniquely corresponding to the target UAV. The encryption algorithm can be SM4, AES, or other encryption algorithms capable of protecting the identity code. When the encryption module processes the same initial native identifier using the same key and encryption parameters, it can generate an initial encrypted identity code that can be reliably verified by the platform. The smart identity card encapsulates the initial native identification code, initial encrypted identity code, smart identity card number, and basic information of the target UAV into identity registration data, which is then sent to the airspace management platform via an encrypted communication link. The airspace management platform authenticates the smart identity card and verifies the integrity, format, and uniqueness of the received identity registration data. Upon successful verification, it determines the authorized airspace and flight permissions for the target UAV based on its flight application information, airspace approval results, or pre-configured regulatory rules. The authorized airspace is defined by horizontal boundary coordinates, minimum allowed altitude, maximum allowed altitude, and authorized valid time period. Flight permissions include allowed flight time, flight altitude, flight speed, flight mode, mission type, and communication frequency band. Finally, the airspace management platform writes the initial native identification code, initial encrypted identity code, authorized airspace, and flight permissions into the same identity permission record, using either the initial native identification code or the initial encrypted identity code as a query index to form an identity permission association mapping. It also records the generation time, effective time, expiration time, version number, and activation status of the mapping. The platform stores the identity and permission association mapping in the identity and permission database and returns registration success and mapping effectiveness information to the smart identity card. If the original identification code or encrypted identity code has been occupied by other drones, the two codes cannot form a valid correspondence, the authorized airspace has not been approved, or the flight permission information is incomplete, the platform will not enable the identity and permission association mapping and will return the corresponding registration failure reason so that the registration information can be re-verified or supplemented.

[0020] Furthermore, the smart identity card collects and sends the target drone's drone operation information to the airspace management platform in real time. The drone operation information includes a real-time native identification code, a real-time encrypted identity code, positioning information, and flight status information.

[0021] Preferably, after the target drone is started and enters a standby or flight state, the smart identification card continuously collects the target drone's operational data according to a preset collection cycle. This preset collection cycle can be set according to the monitoring accuracy and communication load, for example, between 1 and 5 seconds. The smart identification card sends an identification read request to the target drone's flight control system via a serial interface, CAN bus, or other airborne communication interface to read the drone's serial number, unique device identifier, or remote identifier recorded in the flight control system or airborne storage unit, and identifies the read identifier as the real-time native identifier. Subsequently, the smart identity card invokes its built-in encryption module, employing the same encryption algorithm, key, and encoding rules as during the registration phase to encrypt the real-time native identification code, generating a real-time encrypted identity code. This allows the airspace control platform to compare the real-time native identification code and the real-time encrypted identity code with the pre-stored initial native identification code and initial encrypted identity code, respectively. Simultaneously, the smart identity card reads current longitude, latitude, flight altitude, positioning time, and positioning accuracy data from the target UAV's satellite positioning module, integrated navigation module, or flight control system as positioning information. It also reads the target UAV's takeoff or landing status, flight speed, heading, attitude, flight mode, mission status, and current operating channel from the flight control system as flight status information. The smart identity card adds corresponding collection timestamps to the real-time native identification code, real-time encrypted identity code, positioning information, and flight status information, and encapsulates this information into UAV operational information according to a preset data format. After data encapsulation, the smart identity card transmits the drone's operational information to the airspace management platform via cellular communication, dedicated wireless communication, satellite communication, or the drone's data link. The airspace management platform receives and parses the drone's operational information, checking its field integrity, timestamp validity, serial number continuity, and verification results. If the verification passes, it is considered valid operational information for the current monitoring period. When a field fails to be read, the smart identity card marks that field as abnormal and rereads it. When data transmission fails or no confirmation is received from the platform, the smart identity card retransmits the data according to a preset number of retransmissions and can temporarily save unsuccessfully transmitted data for later upload after communication is restored. The smart identity card repeats the data reading, encryption, encapsulation, and transmission process until the target drone terminates its operation or the airspace management platform issues a stop-collection command. This allows for the continuous acquisition of operational information simultaneously reflecting the target drone's identity, location, and flight behavior, providing a timely and complete data foundation for subsequent identity and authorization verification, monitoring status determination, and frequency hopping control strategy generation.

[0022] Furthermore, the airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target UAVs collected in real time by the smart identity card, and determines the real-time monitoring status. The method includes: The initial native identification code and the initial encrypted identity code are used to perform status verification on the real-time native identification code and the real-time encrypted identity code, respectively. When the real-time native identification code matches the initial native identification code and the real-time encrypted identity code matches the initial encrypted identity code, the authorized airspace is used to perform airspace compliance verification on the positioning information, and the flight permission is used to perform permission compliance verification on the flight status information. The airspace compliance status and the permission compliance status are output, wherein the airspace compliance status and the permission compliance status constitute the real-time monitoring status.

[0023] Optionally, after receiving the UAV operation information sent by the smart ID card, the airspace control platform first retrieves the identity and permission association mapping corresponding to the target UAV from the identity and permission database based on the smart ID card number, real-time native identification code, or real-time encrypted identity code. It then extracts the initial native identification code, initial encrypted identity code, authorized airspace, and flight permissions from this mapping. The platform performs format standardization processing on the real-time native identification code according to a preset encoding format, removing separators or whitespace characters that do not affect the recognition result. The platform then compares the processed real-time native identification code with the initial native identification code character by character. If the character content, character order, and encoding length of the two are consistent, the platform outputs a native identification code matching status; otherwise, it outputs a native identification code mismatch status. Simultaneously, the platform checks whether the encryption algorithm identifier, key version, and encoding length used in the real-time encrypted identity code conform to the encryption rules during the registration phase. It then compares the real-time encrypted identity code with the initial encrypted identity code for consistency. If they are consistent, the platform outputs an encrypted identity code matching status; otherwise, it outputs an encrypted identity code mismatch status. Only when the real-time native identification code matches the initial native identification code and the real-time encrypted identity code matches the initial encrypted identity code will the platform determine that the target drone has passed the identity status verification and continue with airspace compliance verification and permission compliance verification. During airspace compliance verification, the platform extracts the target drone's current longitude, latitude, flight altitude, and positioning time from the positioning information. It then determines the spatial inclusion relationship between the location points corresponding to the longitude and latitude and the horizontal boundary coordinates of the authorized airspace. The platform also compares the flight altitude with the minimum and maximum allowed altitudes of the authorized airspace and determines whether the positioning time is within the valid time period of the authorized airspace. If the target drone's horizontal position is within the boundary of the authorized airspace, its flight altitude is within the allowed altitude range, and its positioning time is within the valid time period of the authorized airspace, the platform outputs an airspace compliance status of "compliant." Otherwise, it outputs an airspace compliance status of "incompatible" and records reasons for incompatibility such as out-of-bounds direction, exceeding altitude limits, or exceeding the valid time period.

[0024] During permission compliance verification, the platform extracts flight speed, flight altitude, flight mode, mission type, takeoff and landing status, and current operating channel from flight status information. These parameters are then compared with the corresponding allowed flight speed, allowed flight altitude, allowed flight mode, allowed mission type, allowed takeoff and landing conditions, and allowed operating frequency band in the identity and permission association mapping. If all verified flight status parameters meet the flight permissions, the platform outputs a "compliant" permission status. If any flight status parameter exceeds or fails to meet the flight permissions, the platform outputs a "non-compliant" permission status and records the specific non-compliance item. The platform combines the airspace compliance status, permission compliance status, verification time, and corresponding non-compliance reasons to form the real-time monitoring status of the target UAV. When both the airspace compliance status and permission compliance status are compliant, the real-time monitoring status is determined to be normal; if at least one is non-compliant, the real-time monitoring status is determined to be abnormal. When either the real-time native identification code or the real-time encrypted identity code does not match, or when no corresponding identity and permission association mapping is found, the platform will determine the real-time monitoring status as an abnormal identity status and stop using the identity and permission association mapping for subsequent compliance verification or transfer the target drone into the abnormal monitoring process. Therefore, the platform can confirm the target drone's identity through a dual match of the native and encrypted identities, and further verify whether its spatial location and flight behavior comply with authorization requirements, thereby improving the accuracy and reliability of real-time monitoring status determination.

[0025] S2: The airspace management platform obtains the spectrum occupancy status of the airspace where the target UAV is located, correlates and analyzes the real-time monitoring status, spectrum occupancy status and the positioning information in the UAV operation information, divides the working channel of the target UAV into channels, and generates a frequency hopping management strategy, wherein the frequency hopping management strategy includes channel switching timing, open working channels and controlled suppression channels.

[0026] In one embodiment, after receiving the operational information of a target UAV, the airspace management platform determines the currently controlled airspace of the target UAV based on its location information and retrieves the most recently updated spectrum monitoring results for that airspace to obtain the occupancy status of different frequency bands. Subsequently, based on the target UAV's current real-time monitoring status, the airspace management platform determines the channel regulatory requirements to be met for this spectrum adjustment. Using the target UAV's location as the center, it performs an adaptation evaluation of channels within its communication coverage area, selecting frequency bands that meet the usage conditions as open working channels and controlled suppression channels. The airspace management platform generates a frequency hopping control strategy based on the selected open working channels and controlled suppression channels, enabling the smart identity card to adjust its working frequency band accordingly, thereby improving the rationality of frequency band configuration and the real-time nature of UAV monitoring.

[0027] Furthermore, the airspace management platform acquires the spectrum occupancy status of the airspace where the target UAV is located, correlates and analyzes the real-time monitoring status, spectrum occupancy status, and positioning information in the UAV's operational information, performs channel allocation on the target UAV's operating channel, and generates a frequency hopping management strategy. The method includes: The regulatory airspace of the target UAV is determined based on the positioning information, and the spectrum occupancy status of the regulatory airspace is obtained; the channel regulatory requirements are determined based on the real-time regulatory status; the channel regulatory requirements, positioning information and spectrum occupancy status are correlated to perform channel adaptation, and open working channels and controlled suppression channels are determined; the frequency hopping control strategy is generated by associating the channel switching timing, the open working channels and the controlled suppression channels.

[0028] Optionally, the airspace control platform first extracts the target drone's current longitude, latitude, flight altitude, and positioning time from the drone's operation information. It then spatially matches the location points corresponding to the longitude and latitude with a pre-established electronic airspace map and, in conjunction with the altitude layer where the flight altitude is located, determines the airspace grid or electronic fence area covering the target drone's current location. This airspace grid or electronic fence area is then designated as the target drone's monitored airspace. The platform queries the corresponding spectrum monitoring equipment or spectrum monitoring database based on the area code of the regulated airspace to obtain spectrum monitoring data corresponding to the positioning time. This spectrum monitoring data includes at least the start and end frequencies, channel bandwidth, spectrum occupancy rate, received signal power, interference intensity, and duration of occupancy for each frequency band. Each frequency band is then divided into occupied and available bands, forming the spectrum occupancy status of the regulated airspace. Frequency bands with a spectrum occupancy rate below a preset occupancy threshold, interference intensity below a preset interference threshold, and remaining bandwidth not less than the target drone's minimum communication bandwidth are marked as available bands. Subsequently, the platform reads the real-time monitoring status, which consists of airspace compliance status and permission compliance status. When both airspace compliance and permission compliance status are compliant, the target drone is determined to be in a normal monitoring state, and the channel monitoring requirement is identified as a channel maintenance requirement, used to prioritize maintaining the target drone's current operating channel. When at least one of the airspace compliance status or permission compliance status is non-compliant, the target drone is determined to be in an abnormal monitoring state, and the channel monitoring requirement is identified as a channel reconstruction requirement, used to reselect an operating frequency band that meets the current monitoring requirements. Subsequently, based on the determined channel regulatory requirements, the current channel adaptation targets are identified. These targets are then combined with spectrum environment information to perform frequency band filtering based on spectrum occupancy status. Next, based on location information, it is determined whether the frequency band is permitted at the target UAV's current location, thus obtaining the required open working channels and controlled suppression channels. The platform then encapsulates the target UAV identifier, channel switching sequence, open working channels, controlled suppression channels, frequency hopping period, policy start time, policy validity period, maximum number of retries, channel adjustment status feedback time limit, and suppression execution status feedback time limit to generate a frequency hopping control policy. The smart identity card is used to control the target UAV to switch to the corresponding open working channel according to the channel switching sequence based on this frequency hopping control policy. The anti-UAV radio suppression equipment is used to suppress controlled suppression channels other than open working channels within the corresponding time sequence according to the same frequency hopping control policy. If no suitable open working channel is obtained, the platform retains the current secure communication channel and re-executes channel adaptation and channel allocation after updating the spectrum occupancy status of the regulated airspace. Therefore, the regulatory compliance status, actual spatial location, and spectrum resource status of the airspace where the drone is located can be incorporated into the channel allocation and handover timing configuration, so that the smart identity card and the anti-drone radio suppression equipment can respectively perform open working channel handover and controlled suppression channel suppression according to the same frequency hopping control strategy.

[0029] Furthermore, the method involves associating channel policing requirements, location information, and spectrum occupancy status to perform channel adaptation and determine open operating channels and controlled suppression channels. The frequency band occupancy information of the regulated airspace is extracted from the spectrum occupancy status as spectrum environment information; after determining the channel adaptation object according to the channel regulated requirements, the frequency band occupancy information is filtered by matching the channel adaptation object and the spectrum environment information to determine the open working channel and the controlled suppression channel corresponding to the positioning information; the channel switching period is set as the preset frequency hopping period, and the timing configuration is performed in combination with the channel division relationship of the open working channel and the controlled suppression channel to generate the channel switching timing; the frequency hopping control strategy is generated by associating the channel switching timing, the open working channel and the controlled suppression channel.

[0030] Optionally, after obtaining the spectrum occupancy status of the regulated airspace, the airspace management platform extracts frequency band occupancy information corresponding to the target UAV's current location from the spectrum occupancy status, based on the regulated airspace area code, the target UAV's positioning time, and the coverage area of ​​the spectrum monitoring equipment. Invalid data that has been collected for more than a preset valid duration or whose monitoring range does not cover the target UAV's current location is deleted. This frequency band occupancy information can be recorded separately for frequency bands or channels, including start frequency, end frequency, center frequency, available bandwidth, spectrum occupancy rate, received signal power, interference intensity, continuous idle duration, permitted usage area, and frequency band usage restrictions. The platform combines the validated frequency band occupancy information into spectrum environment information. Subsequently, the platform determines channel adaptation targets based on the channel regulation requirements corresponding to the real-time monitoring status. When the channel regulation requirement is a channel maintenance requirement, the target UAV's current operating channel and all available channels within that operating channel are identified as channel adaptation targets. When the channel regulation requirement is a channel reconstruction requirement, available channels within the regulated airspace that comply with radio management rules are identified as channel adaptation targets. The platform matches the channel adaptation targets with the spectrum environment information item by item. Specifically, based on the longitude, latitude, and flight altitude in the positioning information, it is determined whether each channel adaptation target is allowed to be used at the target UAV's current location and corresponding altitude layer. Channels that do not cover the current location, are prohibited from use at the current location, or belong to protected services are eliminated. It is also determined whether the available bandwidth of the remaining channels is not less than the minimum bandwidth required for the target UAV to perform telemetry, data transmission, or image transmission services, and channels with insufficient bandwidth are eliminated. The spectrum occupancy rate and interference intensity of each remaining channel are compared with preset occupancy thresholds and preset interference thresholds, respectively. Channels with spectrum occupancy rates higher than the preset occupancy thresholds, interference intensity higher than the preset interference thresholds, or continuous idle time shorter than the preset time thresholds are eliminated, thereby obtaining a set of candidate open channels. For each candidate channel in the candidate open channel set, the platform can calculate the channel adaptation value according to "channel adaptation value = first weight × spectrum idle ratio + second weight × remaining bandwidth ratio + third weight × continuous idle time ratio - fourth weight × interference intensity ratio", where the spectrum idle ratio is 1 minus the spectrum occupancy rate, each weight is preset and the sum of the weights is 1, and the channels are sorted from high to low according to their channel adaptation values.

[0031] Under channel maintenance requirements, if the current working channel meets the above screening conditions, it is preferentially identified as an open working channel to reduce unnecessary channel switching. If the current working channel does not meet the screening conditions, the screening result indicating that the current channel is unsustainable is output to trigger a spectrum occupancy status update or adjust the channel policing requirement to a channel reconstruction requirement. Under channel reconstruction requirements, one or more channels with the highest channel fit value in the candidate open channel set that meet the target UAV communication service requirements are identified as open working channels. After identifying open working channels, other channels within the regulated airspace that are outside the open working channels, are within the authorized suppression range of the anti-UAV radio jamming equipment, and do not belong to protected service channels are identified as controlled suppression channels. Subsequently, the platform uses a preset frequency hopping period as the channel switching period, dividing the policy's effective time period into multiple consecutive time slots. Based on the channel adaptation values ​​of the open working channels, it configures corresponding open working channels for each time slot. Simultaneously, it configures controlled suppression channels (excluding the open working channels) within each time slot as the corresponding suppression targets, thus generating a channel switching sequence containing the time slot order, start and end times of each time slot, and the correspondence between open working channels and controlled suppression channels. Then, the platform associates the channel switching sequence, open working channels, and controlled suppression channels, and writes the target UAV identifier, preset frequency hopping period, policy start time, policy validity period, channel adjustment status feedback time limit, suppression execution status feedback time limit, and policy sequence number into it, generating a frequency hopping control policy. This policy allows the smart identification card to control the target UAV to switch to the open working channel according to the channel switching sequence, and allows the anti-UAV radio suppression equipment to suppress controlled suppression channels (excluding the open working channels) according to the same channel switching sequence. If no candidate open channels meeting the conditions are found after screening, the platform generates a channel adaptation failure flag and performs channel screening and channel allocation again after re-acquiring spectrum environment information. Therefore, it is possible to select open working channels and controlled suppression channels that are suitable for channel supervision requirements and UAV locations from the actual spectrum environment of the regulated airspace. By constraining the execution time and effective channels of smart identity cards and anti-UAV radio suppression equipment through channel switching timing, it provides a clear execution basis for the two to carry out synchronous control based on the same frequency hopping control strategy, thereby improving the targeting of channel selection and reducing spectrum conflicts and external signal interference.

[0032] Furthermore, the method also includes: When both the airspace compliance status and the permission compliance status are compliant, the real-time monitoring status is determined to be a normal monitoring status, and the channel monitoring requirement is determined to be a channel maintenance requirement; when the channel monitoring requirement is a channel maintenance requirement, the current working channel of the target UAV is determined to be the channel adaptation object; when the airspace compliance status and / or the permission compliance status are non-compliant, the real-time monitoring status is determined to be an abnormal monitoring status, and the channel monitoring requirement is determined to be a channel reconstruction requirement; when the channel monitoring requirement is a channel reconstruction requirement, the available working channels within the monitored airspace are determined to be the channel adaptation object.

[0033] Optionally, after completing airspace compliance verification and permission compliance verification, the airspace management platform reads the airspace compliance status and permission compliance status generated in this regulatory cycle and performs a combined judgment according to the pre-established regulatory status judgment rules. When both the airspace compliance status and the permission compliance status are compliant, it indicates that the target UAV's current location is within the authorized airspace, and its flight time, flight altitude, flight speed, flight mode, mission type, and other flight statuses meet the corresponding flight permissions. The platform marks the target UAV's real-time regulatory status as normal and generates a channel maintenance requirement. For the channel maintenance requirement, the platform extracts the target UAV's currently used center frequency, frequency band range, channel number, and channel bandwidth from the UAV's flight status information or communication status information. It identifies the current working channel as the channel adaptation target and, in the subsequent channel adaptation process, prioritizes determining whether the current working channel is still a permitted channel at the target UAV's current location, and whether its spectrum occupancy, interference intensity, and remaining bandwidth meet preset conditions. If they do, the platform maintains the current working channel or selects a working channel with a lower occupancy rate to avoid unnecessary channel switching. When the airspace compliance status is non-compliant, the permission compliance status is non-compliant, or both are non-compliant, it indicates that the target UAV has exceeded at least one of the following conditions: exceeding authorized airspace, exceeding authorized altitude, exceeding permitted flight time, using an unauthorized flight mode, or performing an unauthorized task. The platform marks the real-time monitoring status of the target UAV as abnormal monitoring status, records the corresponding non-compliance type and reason, and generates a channel reconstruction request. For channel reconstruction requests, the platform no longer prioritizes maintaining the target UAV's current working channel. Instead, based on the spectrum usage rules corresponding to the monitored airspace, it extracts all permitted working channels from the frequency band occupancy information of that monitored airspace. First, it removes prohibited channels, protected service channels, channels that are already exclusively used, and channels that are not applicable to the altitude layer where the target UAV is located. Then, it marks working channels with a spectrum occupancy rate lower than a preset occupancy threshold, interference intensity lower than a preset interference threshold, remaining bandwidth not less than the minimum communication bandwidth, and continuous available time reaching a preset duration as available working channels. One or more of the obtained available working channels are then identified as channel adaptation targets. The platform stores the channel regulatory requirement type, channel adaptation object, real-time regulatory status, and status generation time in association. This information is used to subsequently determine open working channels and controlled suppression channels from the channel adaptation objects. Specifically, when the regulatory status recovers from an abnormal regulatory status to a normal regulatory status, the channel regulatory requirement can be updated from a channel reconstruction requirement to a channel maintenance requirement in the next regulatory cycle. When the regulatory status changes from a normal regulatory status to an abnormal regulatory status, the channel regulatory requirement is updated from a channel maintenance requirement to a channel reconstruction requirement. If there are no available working channels that meet the conditions in the regulatory airspace, the platform outputs a "no available working channel" identifier and re-acquires the spectrum occupancy status for further filtering.Therefore, depending on whether the target UAV meets the airspace and flight permission requirements, a differentiated channel supervision method can be adopted to either maintain the current working channel or reselect an available working channel, thereby improving the matching degree between channel control and real-time monitoring status.

[0034] S3: The smart identity card receives and controls the target UAV to switch to the open working channel according to the channel switching sequence based on the frequency hopping control strategy, and reports the channel adjustment status to the airspace control platform.

[0035] In one embodiment, after generating a frequency hopping control policy, the airspace management platform sends the policy to the smart identity card on the target UAV via the target UAV's data link, cellular communication link, or independent monitoring communication link. Upon receiving the policy, the smart identity card first determines whether the policy was issued to it based on the target UAV identifier and smart identity card number carried in the policy. It then verifies the policy sequence number, generation time, validity period, and data integrity check code to confirm that the policy is reliable, complete, valid, and has not been repeatedly executed. After successful verification, the smart identity card parses the policy, extracting parameters such as channel switching timing, open working channels, controlled suppression channels, preset frequency hopping period, policy start time, allowed retry count, and status feedback time limit. It then reads the actual working channel currently used by the target UAV's communication module via a serial interface, CAN bus, or other airborne communication interface. The smart identity card synchronizes its local clock with the policy start time and determines the switching time of each channel and the corresponding open working channel according to the channel switching timing. When the actual working channel read matches the open working channel at the current time, the smart identification card does not perform channel switching but only sends a channel hold command to the communication module. When the actual working channel does not match the open working channel at the current time, the smart identification card sends a channel configuration command to the target UAV's telemetry and control communication module, data transmission module, or image transmission module after the corresponding channel switching time arrives. This command causes the target UAV to switch only to the open working channel at that time, without switching to the controlled suppression channel. This channel configuration command includes at least the target center frequency, target channel number, and target channel bandwidth. After receiving the channel configuration command, the communication module first saves the current working channel parameters as recovery parameters, then stops data transmission on the current working channel, configures the local oscillator frequency, filter channel, and channel parameters to the parameters of the corresponding open working channel, and resumes data transmission after the radio frequency circuit stabilizes, thus completing the working channel switching.

[0036] Subsequently, the smart ID card obtains the actual center frequency, actual channel number, and actual channel bandwidth after the switch by reading the configuration register or status interface of the communication module. It then checks whether a communication link has been established on the open working channel by sending link probe data or receiving platform confirmation data. If the actual working channel matches the open working channel corresponding to the current moment in the channel switching sequence and the communication link is successfully established, the smart ID card marks the adjustment as successful. If the actual working channel does not match the corresponding open working channel, the frequency is not locked, or a communication link on the open working channel is not established, the adjustment is marked as failed, and the channel configuration command is resent if the allowed number of retries does not exceed the policy limit. If the adjustment is still unsuccessful after reaching the maximum number of retries, the smart ID card restores the communication module to the previous open working channel or a preset regulatory communication channel according to pre-saved recovery parameters to maintain basic communication with the airspace control platform. After completing the adjustment or confirming its failure, the smart identity card generates a channel adjustment status. This status includes at least the target UAV identifier, policy sequence number, channel switching sequence number, planned switching time, working channel before adjustment, the current open working channel, the actual working channel after adjustment, adjustment execution time, number of retries, success or failure indicator, and reason for failure. This status is then sent to the airspace management platform via the currently available communication link. When the next channel switching time arrives, the smart identity card repeats the process of determining the open working channel, configuring the channel, reading the result, and providing status feedback until the frequency hopping control policy fails or a stop execution command is received. If no confirmation is received from the platform within a preset time, the smart identity card saves the channel adjustment status and retransmits it the preset number of times. This allows the platform to convert the frequency hopping control policy generated by the platform into an open working channel switching operation executed by the target UAV communication module according to the channel switching sequence. By reading the actual working channel and providing result feedback, the platform can promptly grasp the actual execution status of channel adjustments within each frequency hopping cycle, providing a reliable basis for verifying the compliance of the frequency hopping control policy and for synchronous monitoring of the controlled suppression channel suppression process.

[0037] S4: The anti-drone radio suppression equipment receives and suppresses the controlled suppression channel outside the open working channel according to the frequency hopping control strategy, and reports the suppression execution status to the airspace control platform.

[0038] In one embodiment, the airspace control platform sends a frequency hopping control policy, identical to the content received by the smart identity card, to the anti-drone radio suppression device via a wired network, a dedicated wireless network, or an independent supervisory communication link. Upon receiving the frequency hopping control policy, the anti-drone radio suppression device verifies the policy sequence number, device identifier, generation time, validity period, and data integrity check code, and confirms that the controlled suppression channel specified by the policy is within the device's authorized suppression frequency range. After successful verification, the device parses the frequency hopping period, channel switching sequence, open working channels and controlled suppression channels corresponding to each time slot, and synchronizes its local clock with the airspace control platform via satellite time synchronization or network time synchronization. For each time slot in the channel switching sequence, the anti-drone radio suppression device adds the open working channel corresponding to that time slot to the suppression exclusion list, and adds channels other than the open working channels that are marked as controlled suppression channels by the policy to the suppression execution list. Within a preset protection period before time slot switching, the device prematurely stops suppressing the open working channel of the next time slot. After the corresponding channel switching time arrives, according to the suppression start time, duration, and authorized power limit specified by the strategy, the device controls the radio frequency suppression module to suppress the controlled suppression channels in the suppression execution list, while always ensuring that the open working channel is not suppressed. When entering the next time slot, the device updates the suppression exclusion list and suppression execution list according to the new channel division relationship. After the smart identity card controls the target UAV to switch to the new open working channel, the anti-UAV radio suppression device simultaneously suppresses the controlled suppression channels other than the open working channel. If the open working channel and the controlled suppression channel overlap, the channel specified by the strategy exceeds the device's authorized range, or the device clock synchronization error exceeds a preset threshold, the device suspends the suppression of the corresponding channel and generates an anomaly flag. After each time slot is completed, the device reads the actual suppression channel, suppression start time, suppression end time, actual output status, and device operating status through the power detection module and operating status interface, generating a suppression execution status. This suppression execution status includes at least the device identifier, strategy sequence number, time slot number, planned suppression channel, actual suppression channel, planned execution time, actual execution time, suppression success or failure indicator, and failure reason, and is sent to the airspace management platform. If no confirmation is received from the platform, the device saves the suppression execution status and retransmits it a preset number of times. When the frequency hopping control strategy fails, a stop execution command is received, or the device detects a security protection condition, the suppression output is immediately stopped. This enables the anti-drone radio suppression equipment to dynamically avoid open working channels according to the channel switching sequence consistent with the smart identification card, and to suppress only the controlled suppression channels within the corresponding time slot. Simultaneously, it provides the platform with status information to verify whether the suppression channel and execution time comply with the frequency hopping control strategy.

[0039] S5: The airspace management platform performs compliance verification on the frequency hopping control strategy based on the channel adjustment status and suppression execution status, and updates the real-time monitoring status based on the UAV operation information.

[0040] In one embodiment, after receiving the channel adjustment status from the smart identity card and the suppression execution status from the anti-drone radio suppression device, the airspace control platform first queries the frequency hopping control policy corresponding to the current channel switch and suppression execution based on the target drone identifier, suppression device identifier, policy sequence number, and timeslot number carried in the two statuses. If the target drone identifier matches the target drone identifier in the frequency hopping control policy, the suppression device identifier matches the anti-drone radio suppression device specified in the frequency hopping control policy, the policy sequence number and current timeslot number carried in the two statuses correspond to each other, the feedback time of the two statuses does not exceed the status feedback time limit specified in the policy, and the data integrity verification passes, then the channel adjustment status and suppression execution status are recognized as valid statuses. Subsequently, the platform extracts the working channel before adjustment, the open working channel corresponding to the current time slot, the actual working channel after adjustment, the actual channel bandwidth, the channel switching time, the number of retries, and the adjustment success or failure flag from the channel adjustment status; and extracts the planned suppression channel, the actual suppression channel, the suppression start time, the suppression end time, the actual output status, and the suppression success or failure flag from the suppression execution status, and compares them item by item with the channel switching sequence, open working channel, and controlled suppression channel recorded in the current time slot in the frequency hopping control policy. When the smart identity card controls the target drone to switch to the open working channel corresponding to the current time slot within the time range specified by the channel switching timing, and the adjusted actual working channel is consistent with the open working channel and the communication link is successfully established, and at the same time, the anti-drone radio suppression equipment suppresses the controlled suppression channel other than the open working channel within the corresponding time slot, and the actual suppression channel is consistent with the controlled suppression channel specified by the strategy, the actual suppression time is within the suppression time range specified by the strategy, and no suppression is implemented on the open working channel, the frequency hopping control strategy is deemed to be executed in compliance. When the adjusted actual working channel is inconsistent with the open working channel, the channel switching time exceeds the corresponding time slot, the communication link fails to be established, the actual suppression channel is inconsistent with the controlled suppression channel, the open working channel is suppressed, the suppression execution time exceeds the corresponding time slot, any execution status is marked as failed, or the platform does not receive a valid channel adjustment status or suppression execution status within the corresponding feedback time limit, the frequency hopping control strategy is deemed to be executed in non-compliance, and specific reasons such as channel switching error, switching timeout, open working channel being suppressed, controlled suppression channel being omitted, suppression timing error, feedback missing, or data verification failure are recorded.

[0041] After completing the compliance verification, the platform obtains the latest drone operation information sent by the target drone after the channel switching and suppression execution in the current frequency hopping cycle. It then uses the timestamp to determine whether the drone operation information was generated after the execution time of this frequency hopping control policy and within the preset data validity period. If the information is valid, the platform extracts the real-time native identification code, real-time encrypted identity code, positioning information, and flight status information. The platform matches the real-time native identification code and real-time encrypted identity code with the initial native identification code and initial encrypted identity code in the identity and permission association mapping, respectively. When both match, the platform re-evaluates whether the target drone's latitude and longitude, flight altitude, and positioning time comply with the authorized airspace based on the latest positioning information. Finally, it re-evaluates its flight time, flight altitude, flight speed, flight mode, mission type, and actual working channel to ensure compliance with flight permissions, resulting in updated airspace compliance and permission compliance status. When both the updated airspace compliance status and permission compliance status are compliant, the real-time monitoring status is updated to normal monitoring status. When at least one of them is non-compliant, the real-time monitoring status is updated to abnormal monitoring status. When the real-time native identification code or real-time encrypted identity code does not match, the real-time monitoring status is updated to identity abnormal status. If no valid UAV operation information is obtained after the frequency hopping control strategy is executed, the platform retains the previous monitoring status and marks it as an operation information pending update status or a communication abnormal status until new valid operation information is obtained. Finally, the platform stores the frequency hopping control strategy, channel adjustment status, suppression execution status, execution compliance verification results, updated airspace compliance status, permission compliance status, real-time monitoring status, and their update time in association, as the basis for determining whether to regenerate the frequency hopping control strategy or enter the next monitoring cycle. Thus, whether the smart identity card switches the target UAV to the open working channel according to the channel switching sequence, and whether the anti-UAV radio suppression equipment synchronously suppresses the controlled suppression channel are jointly verified, and the monitoring status is updated synchronously using the latest operation information after the strategy execution, thereby avoiding inconsistencies between channel switching and suppression execution or lagging monitoring status.

[0042] S6: When the frequency hopping control strategy fails to comply, return to S2 to regenerate the frequency hopping control strategy. When the frequency hopping control strategy complies and the next monitoring cycle is determined based on the updated real-time monitoring status, return to S1 to re-collect the drone operation information of the target drone, and repeat S1 to S6.

[0043] In one embodiment, after the airspace control platform completes the compliance verification of the frequency hopping control strategy and updates the real-time monitoring status, it selects the subsequent monitoring process based on the compliance verification result. When the frequency hopping control strategy fails to execute correctly, the platform reads the reasons for non-compliance recorded in this verification, such as inconsistency between the actual working channel and the open working channel, channel switching timeout, communication link establishment failure, open working channel being suppressed, controlled suppression channel being omitted, suppression execution timing error, or missing channel adjustment status or suppression execution status. Based on these reasons, the platform determines to readjust the parameters. For example, if the open working channel is already occupied or the interference intensity exceeds a preset threshold, the platform re-acquires the spectrum occupancy status of the monitored airspace where the target UAV is located, removes the open working channel that failed in this execution from the candidate open channel set, and re-determines the open working channel and controlled suppression channel from the remaining available working channels. If the execution time expires or the configuration parameters are incomplete, the platform resets the channel switching timing, channel adjustment status feedback time limit, suppression execution status feedback time limit, or channel configuration parameters. If the smart identity card fails to successfully control the target UAV to switch to an open working channel, or if the anti-UAV radio suppression equipment fails to suppress the controlled suppression channel according to the corresponding timing, a frequency hopping control strategy containing a new strategy sequence number can be regenerated within the allowed number of retries. After the platform completes the above parameter adjustments, it returns to the frequency hopping control policy generation step S2, re-divides the channels and reconfigures the timing to generate a new frequency hopping control policy. The new frequency hopping control policy is then sent to the smart identity card and the anti-drone radio jamming device respectively. The smart identity card re-executes the open working channel switching according to S3 and feeds back the new channel adjustment status. The anti-drone radio jamming device re-implements the suppression of the controlled suppression channel according to S4 and feeds back the new suppression execution status.

[0044] Subsequently, the platform performs the S5 execution compliance check again. To avoid a continuous invalid loop, the platform can also set a maximum number of policy regeneration attempts. If the execution still fails after reaching the maximum number of attempts, the target drone is marked as being in an abnormal frequency hopping control state, and the smart identity card is instructed to control the target drone to use the preset regulatory communication channel. At the same time, the anti-drone radio suppression equipment is instructed to stop the conflicting suppression output or switch to manual handling procedures. When the frequency hopping control policy is executed compliantly, the platform determines whether to enter the next regulatory cycle based on the updated real-time regulatory status, the target drone's operating status, and the regulatory task status. For example, if the smart identity card is still online, the target drone is still in a standby or flight state, the flight task has not ended, and the authorized regulatory period has not expired, it is determined that the next regulatory cycle needs to be entered. After the preset regulatory cycle is reached, the platform returns to S1, re-receives the real-time native identification code, real-time encrypted identity code, location information, and flight status information collected by the smart identity card, and sequentially re-executes identity authorization verification, frequency hopping control policy generation, open working channel switching, controlled suppression channel suppression, execution compliance check, and regulatory status update. When the target drone has landed and shut down, completed its flight mission, gone offline normally with its smart identity card, expired its authorized monitoring period, or the platform receives a termination of monitoring instruction, it is determined that the next monitoring cycle will not begin, and the current monitoring of the target drone will end. The platform will then associate and store the drone's operational information, frequency hopping control strategies, channel adjustment status, suppression execution status, compliance verification results, and real-time monitoring status for each monitoring cycle. During the cyclical execution, the platform assigns a cycle number and timestamp to each monitoring cycle to distinguish the data and strategies generated in different cycles, until the monitoring termination conditions are met. This allows for timely correction and re-execution of frequency hopping control strategies when switching open working channels or when controlled suppression channels fail to achieve the expected results. Furthermore, it periodically updates the identity, location, permissions, and spectrum status of the target drone during its continuous operation, forming a verifiable, correctable, and sustainable closed-loop monitoring process.

[0045] Furthermore, if the airspace control platform determines that the target drone will not enter the next monitoring cycle based on the updated real-time monitoring status, the airspace control platform will terminate its monitoring of the target drone.

[0046] Preferably, after confirming that the frequency hopping control strategy is executed in compliance and completing the real-time monitoring status update, the airspace management platform invokes pre-configured monitoring cycle judgment rules to judge the updated airspace compliance status, permission compliance status, and the corresponding latest flight status information. When the target UAV is still in flight, takeoff preparation, or mission execution status, or when at least one of the updated airspace compliance status and permission compliance status is non-compliant, it indicates that the target UAV still needs to be subject to continuous monitoring, and the platform determines to enter the next monitoring cycle. When both the updated airspace compliance status and permission compliance status are compliant, and based on the latest flight status information it is determined that the target UAV has completed landing, its flight speed has decreased to below the preset stationary threshold, and its position has not changed beyond the allowable error within the preset confirmation time, and at least one of the following conditions is met: the flight mission has ended, the authorized flight period has expired, or the platform has received a legitimate monitoring end request, the platform determines not to enter the next monitoring cycle. To prevent erroneous termination of monitoring due to instantaneous positioning anomalies or false flight status reports, the platform can continuously acquire UAV operation information for multiple collection cycles. Only when the target UAV is detected to be in a landed or mission-completed state for a preset number of consecutive times is the monitoring end condition confirmed.

[0047] Once the conditions for termination of supervision are met, the airspace control platform ceases to trigger the next supervision cycle, stops requesting new UAV operation information from the smart identity card, and stops generating new frequency hopping control policies for the target UAV. It then sends a supervision termination command to the smart identity card, which includes the target UAV identifier, the current supervision task number, the termination time, and command verification information. After receiving and verifying the supervision termination command, the smart identity card stops actively uploading UAV operation information according to the supervision cycle, but retains its basic online or reactivation functions to re-establish the supervision session when the target UAV restarts or executes a new flight mission. Simultaneously, the airspace control platform updates the target UAV's real-time supervision status to "supervision terminated," records the reason for termination, and associates and stores the UAV operation information, identity and permission verification results, spectrum occupancy status, frequency hopping control policies, channel adjustment status, execution compliance verification results, and real-time supervision status of each supervision cycle generated during this supervision process, according to the target UAV identifier and supervision task number. If the platform does not receive confirmation of the end-of-monitor instruction from the smart identity card, it records an unconfirmed end-of-monitoring flag, but retains the monitoring record for this instance. The monitoring process can be restarted when the target drone sends operational information again. This end-of-monitoring only terminates the periodic monitoring process corresponding to the current flight mission; it does not delete the target drone's identity and permission association mapping, allowing subsequent flight missions to continue using it. Therefore, it can promptly terminate invalid data collection and spectrum regulation upon confirming that the target drone has safely ended its operation or that the current monitoring mission has been completed, reducing communication and computing resource consumption while ensuring that the monitoring process and the reason for its termination can be fully traced.

[0048] For example, a DIY agricultural and forestry plant protection drone without native ADS-B broadcast capability is modified to comply with regulations. A smart identity card is fixed inside the drone's fuselage using a shock-absorbing bracket, connected to a 12V power supply provided by an onboard 3S lithium battery, and connected to the flight control system and the adjustable frequency telemetry and control data transmission module via a UART serial port, without modifying the original flight control firmware. The smart identity card has a built-in encryption module, satellite positioning module, and ADS-B compliant broadcast module. A globally unique 24-bit ICAO address code, registered and assigned, is written to the drone via a ground station and used as the initial native identification code. The smart identity card encrypts this address code using the SM4 algorithm to generate an initial encrypted identity code. Based on the plant protection operation application, the airspace management platform designates approximately 2 square kilometers of farmland as authorized airspace, setting the permitted flight altitude to 10 to 120 meters, the operation time to 06:00 to 18:00 on the same day, and the maximum flight speed to 15 meters per second. An identity and permission mapping is established between the initial native identification code, the initial encrypted identity code, the authorized airspace, and flight permissions. After takeoff, the smart identification card collects real-time native identification code, real-time encrypted identity code, latitude and longitude, altitude, speed, heading, and plant protection operation status every second, and sends this information to the airspace management platform. Simultaneously, it broadcasts the identity and flight data via the ADS-B compliant broadcast module to access the local UTMISS drone traffic management system. The platform performs dual-code matching and determines whether the drone is within authorized farmland and in a permitted flight state, thus determining its real-time monitoring status. When both airspace and permission compliance are met, the platform determines the drone is in normal monitoring status, generates a channel maintenance request, and uses the current 2.437GHz operating channel as the channel adaptation target. During operation, if the drone is affected by crosswinds and flies approximately 30 meters beyond the authorized farmland boundary, the platform updates it to an abnormal monitoring status and generates a channel reconstruction request. The platform obtains spectrum occupancy information through spectrum monitoring equipment near farmland. It detects that the occupancy rate of the 2.437GHz channel is 78%, which exceeds the preset threshold of 65%, while the occupancy rates of the 2.462GHz and 2.472GHz channels are 21% and 18%, respectively. Therefore, the corresponding available channels are used as channel adaptation targets for channel allocation.

[0049] Using a frequency hopping period of 500 milliseconds, in the first time slot, 2.462 GHz is designated as an open working channel, while 2.437 GHz and 2.472 GHz are designated as controlled suppression channels. In the second time slot, 2.472 GHz is designated as an open working channel, while 2.437 GHz and 2.462 GHz are designated as controlled suppression channels. Based on this, a frequency hopping control strategy is generated, which includes channel switching timing, open working channels, and controlled suppression channels. After receiving this strategy, the smart identification card controls the telemetry and data transmission module via UART serial port to switch between 2.462 GHz and 2.472 GHz according to the timing sequence, and feeds back to the platform the actual working channel, switching time, and communication link status for each time slot. After receiving the same strategy, the authorized anti-drone radio suppression equipment releases the corresponding open working channel before the start of each time slot and suppresses the remaining controlled suppression channels within the time slot, while feeding back to the platform the actual suppressed channel, suppression time, and execution result. The platform compares the channel adjustment status and suppression execution status with the frequency hopping control strategy item by item. When the drone switches to the open working channel on time, and the suppression equipment completes the suppression of the controlled suppression channel without suppressing the open working channel, the strategy execution is deemed compliant; otherwise, the spectrum occupancy status is reacquired and a new frequency hopping control strategy is generated. The platform continues to periodically verify the drone's identity, location, and flight permissions. After the drone returns to the authorized farmland, the real-time monitoring status returns to normal monitoring status. After the plant protection operation is completed and the drone lands, the platform ends the monitoring and saves the flight trajectory, identity verification results, frequency hopping control strategy, channel adjustment status, suppression execution status, and monitoring status. Through the above modifications, DIY plant protection drones acquire a trusted identity, and the smart identity card and anti-drone radio suppression equipment execute open working channel switching and controlled suppression channel suppression respectively according to the same channel switching sequence, realizing verifiable flight identity, determineable operation permissions, and traceable control process.

[0050] In summary, the embodiments of this application have at least the following technical effects: S1: The airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target UAV's operation information collected in real time by the smart identity card, and determines the real-time monitoring status; S2: The airspace control platform obtains the spectrum occupancy status of the airspace where the target UAV is located, analyzes the real-time monitoring status, spectrum occupancy status, and positioning information in the UAV's operation information, divides the target UAV's working channel into channels, and generates a frequency hopping control strategy, wherein the frequency hopping control strategy includes channel switching timing, open working channels, and controlled suppression channels; S3: The smart identity card receives and controls the target UAV to switch to the open working channel according to the channel switching timing based on the frequency hopping control strategy, and reports to the airspace control platform. The platform provides feedback on the channel adjustment status; S4: The anti-drone radio suppression equipment receives and suppresses the controlled suppression channel outside the open working channel according to the frequency hopping control strategy, and reports the suppression execution status to the airspace management platform; S5: The airspace management platform verifies the compliance of the frequency hopping control strategy based on the channel adjustment status and the suppression execution status, and updates the real-time monitoring status based on the drone operation information; S6: When the frequency hopping control strategy fails to comply, it returns to S2 to regenerate the frequency hopping control strategy. When the frequency hopping control strategy complies and the updated real-time monitoring status indicates entry into the next monitoring cycle, it returns to S1 to re-collect the drone operation information of the target drone, and repeats S1 to S6. This solves the technical problem in existing monitoring where compliant drone channel switching and anti-drone radio suppression are independent, leading to easy interference of compliant drone communication by the suppression signal. It achieves the technical effect of synchronously controlling compliant drones to switch to open working channels and suppressing controlled suppression channels through a unified frequency hopping control strategy, realizing closed-loop control of channel switching and radio suppression.

[0051] Example 2, based on the same inventive concept as the drone monitoring method based on smart identity cards in the previous examples, such as... Figure 2 As shown, this application provides a drone monitoring system based on a smart identity card, wherein the system includes: Identity Verification Unit 11: The airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target UAV's operation information collected in real time by the smart identity card, and determines the real-time monitoring status; Strategy Generation Unit 12: The airspace control platform obtains the spectrum occupancy status of the airspace where the target UAV is located, analyzes the real-time monitoring status, spectrum occupancy status and positioning information in the UAV operation information, divides the working channel of the target UAV into channels, and generates a frequency hopping control strategy, wherein the frequency hopping control strategy includes channel switching timing, open working channels and controlled suppression channels; Channel Adjustment Unit 13: The smart identity card receives and controls the target UAV to switch to the open working channel according to the channel switching timing based on the frequency hopping control strategy, and reports to the airspace control platform. The platform provides feedback on the channel adjustment status; Channel suppression unit 14: The anti-drone radio suppression device receives and suppresses the controlled suppression channels outside the open working channels according to the frequency hopping control strategy, and reports the suppression execution status to the airspace management platform; Compliance verification unit 15: The airspace management platform performs compliance verification on the frequency hopping control strategy according to the channel adjustment status and suppression execution status, and updates the real-time monitoring status according to the drone operation information; Cyclic verification unit 16: When the frequency hopping control strategy does not comply, it returns to S2 to regenerate the frequency hopping control strategy; when the frequency hopping control strategy complies and the updated real-time monitoring status determines that the next monitoring cycle is to be entered, it returns to S1 to re-collect the drone operation information of the target drone, and cyclically executes S1 to S6.

[0052] Furthermore, the identity verification unit 11 is used to perform the following method: The smart identity card invokes the encryption module to encrypt the initial native identification code read through the smart identity card, generating an initial encrypted identity code. The target drone is equipped with a smart identity card, which has a built-in encryption module. The airspace management platform determines the authorized airspace and flight permissions of the target drone. After receiving the initial native identification code and the initial encrypted identity code, the airspace management platform establishes and stores the identity and permission association mapping between the initial native identification code, the initial encrypted identity code, the authorized airspace, and the flight permissions.

[0053] Furthermore, the identity verification unit 11 is used to perform the following method: The smart identity card collects and sends the target drone's drone operation information to the airspace management platform in real time. The drone operation information includes a real-time native identification code, a real-time encrypted identity code, positioning information, and flight status information.

[0054] Furthermore, the identity verification unit 11 is used to perform the following method: The initial native identification code and the initial encrypted identity code are used to perform status verification on the real-time native identification code and the real-time encrypted identity code, respectively. When the real-time native identification code matches the initial native identification code and the real-time encrypted identity code matches the initial encrypted identity code, the authorized airspace is used to perform airspace compliance verification on the positioning information, and the flight permission is used to perform permission compliance verification on the flight status information. The airspace compliance status and the permission compliance status are output, wherein the airspace compliance status and the permission compliance status constitute the real-time monitoring status.

[0055] Furthermore, the strategy generation unit 12 is used to perform the following method: The regulatory airspace of the target UAV is determined based on the positioning information, and the spectrum occupancy status of the regulatory airspace is obtained; the channel regulatory requirements are determined based on the real-time regulatory status; channel adaptation is performed by associating the channel regulatory requirements, positioning information and spectrum occupancy status to determine open working channels and controlled suppression channels; the frequency hopping control strategy is generated by associating the channel switching timing, the open working channels and the controlled suppression channels.

[0056] Furthermore, the strategy generation unit 12 is used to perform the following method: The frequency band occupancy information of the regulated airspace is extracted from the spectrum occupancy status as spectrum environment information; after determining the channel adaptation object according to the channel regulated requirements, the frequency band occupancy information is filtered by matching the channel adaptation object and the spectrum environment information to determine the open working channel and the controlled suppression channel corresponding to the positioning information; the channel switching period is set as the preset frequency hopping period, and the timing configuration is performed in combination with the channel division relationship of the open working channel and the controlled suppression channel to generate the channel switching timing; the frequency hopping control strategy is generated by associating the channel switching timing, the open working channel and the controlled suppression channel.

[0057] Furthermore, the strategy generation unit 12 is used to perform the following method: When both the airspace compliance status and the permission compliance status are compliant, the real-time monitoring status is determined to be a normal monitoring status, and the channel monitoring requirement is determined to be a channel maintenance requirement; when the channel monitoring requirement is a channel maintenance requirement, the current working channel of the target UAV is determined to be the channel adaptation object; when the airspace compliance status and / or the permission compliance status are non-compliant, the real-time monitoring status is determined to be an abnormal monitoring status, and the channel monitoring requirement is determined to be a channel reconstruction requirement; when the channel monitoring requirement is a channel reconstruction requirement, the available working channels within the monitored airspace are determined to be the channel adaptation object.

[0058] Furthermore, the cyclic verification unit 16 is used to perform the following method: If the airspace control platform determines that the target drone will not enter the next monitoring cycle based on the updated real-time monitoring status, the airspace control platform will terminate its monitoring of the target drone.

[0059] Example 3, Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing the embodiments of the present invention. Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. Figure 3 As shown, the electronic device includes a processor 21, a memory 22, an input device 23, and an output device 24; the number of processors 21 in the electronic device can be one or more. Figure 3 Taking a processor 21 as an example, the processor 21, memory 22, input device 23, and output device 24 in an electronic device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0060] The memory 22, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the drone monitoring method based on smart identity cards in this embodiment of the invention. The processor 21 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 22, thereby realizing the aforementioned drone monitoring method based on smart identity cards.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for monitoring unmanned aerial vehicles (UAVs) based on smart identity cards, characterized in that: The method includes: S1: The airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target drones collected in real time by the smart identity card and determine the real-time monitoring status. S2: The airspace management platform obtains the spectrum occupancy status of the airspace where the target UAV is located, correlates and analyzes the real-time monitoring status, spectrum occupancy status and the positioning information in the UAV operation information, divides the working channel of the target UAV into channels, and generates a frequency hopping management strategy, wherein the frequency hopping management strategy includes channel switching timing, open working channels and controlled suppression channels; S3: The smart identity card receives and controls the target UAV to switch to the open working channel according to the channel switching sequence based on the frequency hopping control strategy, and feeds back the channel adjustment status to the airspace control platform; S4: The anti-drone radio suppression equipment receives and suppresses the controlled suppression channel outside the open working channel according to the frequency hopping control strategy, and feeds back the suppression execution status to the airspace control platform; S5: The airspace management platform performs compliance verification on the frequency hopping control strategy based on the channel adjustment status and suppression execution status, and updates the real-time monitoring status based on the UAV operation information; S6: When the frequency hopping control strategy fails to comply, return to S2 to regenerate the frequency hopping control strategy. When the frequency hopping control strategy complies and the next monitoring cycle is determined based on the updated real-time monitoring status, return to S1 to re-collect the drone operation information of the target drone, and repeat S1 to S6.

2. The drone monitoring method based on smart identity cards as described in claim 1, characterized in that, The method further includes: The smart identity card calls the encryption module to encrypt the initial native identification code read through the smart identity card and generate an initial encrypted identity code. The target drone is equipped with a smart identity card, and the smart identity card has a built-in encryption module. The airspace management platform determines the authorized airspace and flight permissions for the target UAV; After receiving the initial native identification code and the initial encrypted identity code, the airspace control platform establishes and stores the identity and permission association mapping between the initial native identification code, the initial encrypted identity code, the authorized airspace, and the flight permission.

3. The drone monitoring method based on smart identity cards as described in claim 2, characterized in that, The smart identity card collects and sends the target drone's drone operation information to the airspace management platform in real time. The drone operation information includes a real-time native identification code, a real-time encrypted identity code, positioning information, and flight status information.

4. The drone monitoring method based on smart identity cards as described in claim 3, characterized in that, The airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target UAVs collected in real time by the smart identity card, and determines the real-time monitoring status. The method includes: The initial native identification code and the initial encrypted identity code are used to perform status verification on the real-time native identification code and the real-time encrypted identity code, respectively. When the real-time native identification code matches the initial native identification code and the real-time encrypted identity code matches the initial encrypted identity code, the location information is verified for airspace compliance using the authorized airspace and the flight status information is verified for permission compliance using the flight permission. The airspace compliance status and permission compliance status are output, wherein the airspace compliance status and permission compliance status constitute the real-time monitoring status.

5. The drone monitoring method based on smart identity cards as described in claim 4, characterized in that, The airspace management platform acquires the spectrum occupancy status of the airspace where the target UAV is located, correlates and analyzes the real-time monitoring status, spectrum occupancy status, and positioning information in the UAV's operation information, performs channel partitioning on the target UAV's operating channel, and generates a frequency hopping control strategy. The method includes: The regulatory airspace of the target UAV is determined based on the positioning information, and the spectrum occupancy status of the regulatory airspace is obtained. Channel monitoring requirements are determined based on the real-time monitoring status. Channel adaptation is performed by associating the aforementioned channel policing requirements, location information, and spectrum occupancy status to determine open working channels and controlled suppression channels; The frequency hopping control strategy is generated by associating the channel switching timing, the open working channel, and the controlled suppression channel.

6. The drone monitoring method based on smart identity cards as described in claim 5, characterized in that, The method involves associating channel policing requirements, location information, and spectrum occupancy status with channel adaptation to determine open operating channels and controlled suppression channels. The frequency band occupancy information of the regulatory airspace is extracted from the spectrum occupancy status as spectrum environment information; After determining the channel adaptation target based on the channel supervision requirements, the frequency band occupancy information is filtered by matching the channel adaptation target with the spectrum environment information to determine the open working channel and the controlled suppression channel corresponding to the positioning information. Using a preset frequency hopping period as the channel switching period, and combining the channel division relationship between the open working channel and the controlled suppression channel, the timing is configured to generate the channel switching timing. The frequency hopping control strategy is generated by associating the channel switching timing, open working channels, and controlled suppression channels.

7. The drone monitoring method based on smart identity cards as described in claim 6, characterized in that, The method further includes: When both the spatial compliance status and the permission compliance status are compliant, the real-time monitoring status is determined to be a normal monitoring status, and the channel monitoring requirement is determined to be a channel maintenance requirement. When the channel policing requirement is a channel maintenance requirement, the current operating channel of the target UAV is determined as the channel adaptation target; When the spatial domain compliance status and / or the permission compliance status are non-compliant, the real-time monitoring status is determined to be an abnormal monitoring status, and the channel monitoring requirement is determined to be a channel reconstruction requirement. When the channel policing requirement is a channel reconfiguration requirement, the available working channels within the policing space are identified as the channel adaptation targets.

8. The drone monitoring method based on smart identity cards as described in claim 1, characterized in that, If the airspace control platform determines that the target drone will not enter the next monitoring cycle based on the updated real-time monitoring status, the airspace control platform will terminate its monitoring of the target drone.

9. A drone monitoring system based on smart identity cards, characterized in that, The system is used to implement the drone monitoring method based on a smart identity card as described in any one of claims 1-8, the system comprising: Identity Verification Unit: The airspace control platform uses identity and permission association mapping as the verification benchmark to verify the identity and permission of the target drones collected in real time by the smart identity card, and determines the real-time monitoring status. Strategy generation unit: The airspace management platform obtains the spectrum occupancy status of the airspace where the target UAV is located, correlates and analyzes the real-time monitoring status, spectrum occupancy status and the positioning information in the UAV operation information, divides the working channel of the target UAV into channels, and generates a frequency hopping management strategy, wherein the frequency hopping management strategy includes channel switching timing, open working channels and controlled suppression channels; Channel adjustment unit: The smart identity card receives and controls the target UAV to switch to the open working channel according to the channel switching sequence based on the frequency hopping control strategy, and feeds back the channel adjustment status to the airspace management platform; Channel Suppression Unit: The anti-drone radio suppression equipment receives and suppresses the controlled suppression channels other than the open working channels according to the frequency hopping control strategy, and feeds back the suppression execution status to the airspace control platform; Compliance verification unit: The airspace management platform performs compliance verification on the frequency hopping control strategy based on the channel adjustment status and suppression execution status, and updates the real-time monitoring status based on the UAV operation information; Cyclic verification unit: When the frequency hopping control strategy does not comply, return to S2 to regenerate the frequency hopping control strategy. When the frequency hopping control strategy complies and the next monitoring cycle is determined based on the updated real-time monitoring status, return to S1 to re-collect the drone operation information of the target drone, and cyclically execute S1 to S6.

10. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable instructions; The processor, when executing executable instructions stored in the memory, implements the drone monitoring method based on a smart identity card as described in any one of claims 1-8.

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