Operational assistance system, ground facility, mobile body and operational assistance method

Abstract

To provide an operational assistance system for efficiently transmitting positional information of a mobile body.SOLUTION: An operational assistance system is provided, including a plurality of first mobile bodies, a plurality of second mobile bodies, and a ground facility for wirelessly communicating with a first captain mobile body and a second captain mobile body. The first captain mobile body aggregates individual positional information showing respective flight positions of the first mobile bodies to generate first positional information, gives a first digital signature and transmits the first positional information to the ground facility. The ground facility attaches a second digital signature to the first positional information and transmits the first positional information to the second captain mobile body when verification of the first digital signature is successful. The second captain mobile body generates individual second control information for controlling respective flights of the plurality of second mobile bodies on the basis of the first positional information and second positional information showing flight positions of the plurality of second mobile bodies, and transmits the individual second control information to each of the plurality of second mobile bodies when the verification of the second digital signature is successful.SELECTED DRAWING: Figure 23

Description

[Technical Field]

[0001] The present invention relates to a traffic assistance system, a ground facility, a mobile body, and a traffic assistance method. [Background technology]

[0002] Currently, unmanned aircraft such as drones are expected to play an active role in logistics. According to Non-Patent Document 1, it has been pointed out that technological development is necessary to realize simultaneous operation of multiple aircraft by multiple operators. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Public-Private Council for Improving the Environment for Small Unmanned Aircraft, "Roadmap 2021 for an Industrial Revolution in the Sky," June 18, 2021, (https: / / www.kantei.go.jp / jp / singi / kogatamujinki / kanminkyougi_dai16 / siryou4.pdf) [Non-patent document 2] Yohei Watanabe, Toru Tomita, Junji Shikata, "Lattice-based multi-party authentication method," Proceedings of the Computer Security Symposium 2023, pp. 1076-1083, 2023. [Non-patent document 3] Dorfman, Robert, "The detection of defective members of large populations," The Annals of mathematical statistics 14.4, 1943, pp. 436-440 [Non-patent document 4] Thierry-Mieg, Nicolas, "A new pooling strategy for high-throughput screening: the Shifted Transversal Design", BMC bioinformatics 7.1, published 2006, pp. 1-13. [Non-patent document 5] Boneh, Dan, et al, "Aggregate and verifiably encrypted signatures from bilinear maps", Advances in Cryptology-EUROCRYPT 2003: International Conference on the Theory and Applications of Cryptographic Techniques, Warsaw, Poland, May 4-8, 2003 Proceedings 22. Springer Berlin Heidelberg, published 2003. Summary of the Invention [Problem to be solved by the invention]

[0004] In the near future, it is expected that one million unmanned aircraft will fly through the sky to handle logistics. Because there are no roads in the air like there are on the ground, the challenge is how to fly a large number of unmanned aircraft without them touching each other. This is because, with one million unmanned aircraft flying through the sky, the distance between adjacent aircraft could be anywhere from a few meters to a few tens of centimeters.

[0005] Flying in formation allows multiple drones belonging to a transportation company to fly safely. On the other hand, if multiple drones belonging to a transportation company do not obtain the flight positions of multiple drones belonging to other transportation companies, it becomes difficult to avoid collisions with multiple drones belonging to other transportation companies. Furthermore, if such position information is tampered with by a third party, it becomes difficult to avoid collisions between multiple drones. Encrypting position information would prevent tampering by a third party. However, this increases the amount of position information per drone. An increase in the amount of information causes communication delays and reduces the time available for collision avoidance. Therefore, a communication technology that efficiently transmits the position information of multiple drones is needed. Therefore, an object of the present invention is to provide a navigation assistance system that efficiently transmits the position information of mobile objects. [Means for solving the problem]

[0006] The present invention is, for example, a plurality of first moving bodies flying in a first flight formation; a plurality of second moving bodies flying in a second flight formation; a ground facility that wirelessly communicates with a first commander mobile unit among the plurality of first mobile units that acts as a commander aircraft in the first flight formation, and a second commander mobile unit among the plurality of second mobile units that acts as a commander aircraft in the second flight formation; A driving assistance system having: The first commander mobile unit aggregates individual position information indicating the flight positions of the plurality of first mobile units in the first flight formation to generate first position information, assigns a first digital signature to the first position information, and transmits the first position information to the ground equipment; The ground equipment receives the first location information to which the first digital signature has been added by the first leader mobile unit, and if verification of the first digital signature is successful, adds a second digital signature to the first location information and transmits it to the second leader mobile unit; The second commander mobile body receives the first position information with the second digital signature attached from the ground equipment, and if verification of the second digital signature is successful, generates individual second control information for controlling the flight of each of the plurality of second mobile bodies based on the first position information and second position information indicating the flight positions of the plurality of second mobile bodies, and transmits the individual second control information to each of the plurality of second mobile bodies; Each of the plurality of second moving bodies flies based on the individual second control information received from the second leader moving body. The present invention provides a driving assistance system configured as follows. [Effects of the Invention]

[0007] According to the present invention, a travel assistance system that efficiently transmits position information of a moving object is provided. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a plurality of moving objects flying in the same direction. [Figure 2] FIG. 1 is a diagram showing a communication system (travel assistance system) according to an embodiment A. [Figure 3] FIG. [Figure 4] FIG. 2 is a diagram for explaining a base station server. [Figure 5] FIG. 2 is a diagram illustrating a control server. [Figure 6] A sequence diagram showing the process from collecting location information to delivering commands. [Figure 7] 10 is a flowchart showing processing from acquisition of position information in a mobile object to execution of a command. [Figure 8] 10 is a flowchart showing a location information distribution process in a base station server. [Figure 9] 10 is a flowchart showing a command distribution process in the base station server. [Figure 10] 10 is a flowchart showing a process of receiving aggregated location information of the company in the control server. [Figure 11]10 is a flowchart showing a process of receiving aggregated location information of other companies and a process of transmitting a command in the control server. [Figure 12] FIG. 10 is a diagram showing a communication system (travel assistance system) according to an embodiment B. [Figure 13] FIG. 1 is a diagram illustrating a leader mobile unit. [Figure 14] FIG. 2 is a diagram for explaining a base station server. [Figure 15] FIG. 10 is a sequence diagram showing a process from collection of location information to distribution of a command in embodiment B. [Figure 16] 10 is a flowchart showing the process of aggregating and transferring location information in the leader mobile body. [Figure 17] 10 is a flowchart showing a command transfer process in the leader mobile body. [Figure 18] 10 is a flowchart showing a location information transfer process in the base station server. [Figure 19] 10 is a flowchart showing a command transfer process in the base station server. [Figure 20] FIG. 2 is a block diagram illustrating the structure of a member mobile body. [Figure 21] FIG. 1 is a block diagram illustrating the structure of a leader mobile unit. [Figure 22] 1 is a block diagram illustrating the structure of a base station server. [Figure 23] FIG. 10 is a sequence diagram showing a process from collection of location information to distribution of a command in embodiment C. [Figure 24] 10 is a flowchart showing the process of aggregating and transferring location information in the leader mobile body. [Figure 25] 10 is a flowchart showing a command generation process and a distribution process in the leader mobile body. [Figure 26] 10 is a flowchart showing a location information transfer process in the base station server. [Figure 27] 10 is a flowchart showing the processing from obtaining position information to executing a command in a member mobile object. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Furthermore, the same reference numerals are used for the same or similar components, and redundant explanations will be omitted.

[0010] FIG. 1 shows multiple moving objects 100 flying in the same direction at a certain altitude. The moving objects 100 are primarily unmanned aircraft such as drones, but may also be manned aircraft. Moving objects 100a-1 to 100a-7 belong to logistics company A. Moving objects 100b-1 to 100b-2 belong to logistics company B. Moving objects 100c-1 to 100c-3 belong to logistics company C. The lowercase letters abc added to the reference symbols indicate the company to which the moving objects 100 belong. The hyphenated number (or letters) added to the end of the reference symbol distinguishes between multiple moving objects belonging to the same logistics company. Note that when describing matters common to multiple moving objects 100, the abc letters or hyphenated letters may be omitted. Note that this reference symbol principle also applies to objects other than moving objects.

[0011] Generally, multiple logistics companies are in a rival relationship and do not share sensitive information such as location information. Therefore, each logistics company can prevent contact by exchanging (sending and receiving) location information only among the multiple mobile objects 100 belonging to its own company.

[0012] On the other hand, in a scenario in which a large number of mobile bodies 100, such as one million, are moving through the sky, even if each mobile body flies with a certain margin in three-dimensional space, it may not be possible to avoid collisions without location information of other mobile bodies 100 located in the vicinity.

[0013] Alternatively, if location information could be exchanged safely across company boundaries, it would enable the safe flight of a large number of moving bodies 100. Furthermore, if location information of surrounding moving bodies 100 were available, multiple moving bodies 100 would be able to fly closer together, enabling effective use of three-dimensional space.

[0014] Example A (1) Overview of Example A 2 shows a communication system (travel assistance system) according to embodiment A. Here, as an example, n mobile units 100a-1 to 100a-n belonging to company A and m mobile units 100b-1 to 100b-m belonging to company B are shown. However, the number of logistics companies may be three or more.

[0015] Mobile units 100a-1 to 100a-n and mobile units 100b-1 to 100b-m communicate wirelessly with base station server 110 to transmit their respective location information and receive control information (hereinafter referred to as commands). Base station server 110 is an information processing device including a wireless communication base station (remote wireless station) and a server computer. The wireless communication base station function and the server computer function may be geographically separated. Base station server 110 aggregates the individual location information from mobile units 100a-1 to 100a-n belonging to company A to create a group of location information (aggregated location information) and transmits it to company A's control server 120a. When base station server 110 receives permission (authentication result) to transfer the aggregated location information to other companies from control server 120a, it transmits the aggregated location information for mobile units 100a-1 to 100a-n to company B's control server 120b.

[0016] Similarly, the base station server 110 aggregates the individual location information from the mobile units 100b-1 to 100b-m belonging to company B to create aggregated location information and transmits it to the control server 120a of company B. When the base station server 110 receives permission (authentication result) to transfer the aggregated location information to other companies from the control server 120b, it transmits the aggregated location information for the mobile units 100b-1 to 100b-m to the control server 120a of company A.

[0017] Control server 120a analyzes the individual position information of moving bodies 100a-1 to 100a-n and the individual position information of moving bodies 100b-1 to 100b-m, and generates individual commands for each of moving bodies 100a-1 to 100a-n so that they fly to their destinations without colliding with surrounding moving bodies. Control server 120a aggregates the individual commands of moving bodies 100a-1 to 100a-n to generate a command group (aggregated command or aggregated control information) and transmits it to base station server 110. Base station server 110 extracts the individual commands of moving bodies 100a-1 to 100a-n from the command group and transmits them to each of moving bodies 100a-1 to 100a-n. Moving bodies 100a-1 to 100a-n receive the individual commands addressed to them and apply the individual commands to their flight control.

[0018] Similarly, control server 120b analyzes the individual position information of moving bodies 100b-1 to 100b-m and the individual position information of moving bodies 100a-1 to 100a-n, and generates individual commands for each of moving bodies 100b-1 to 100b-m so that they fly to their destinations without colliding with surrounding moving bodies. Control server 120b aggregates the individual commands of moving bodies 100b-1 to 100b-m to generate a command group (aggregated command or aggregated control information) and transmits it to base station server 110. Base station server 110 extracts the individual commands of moving bodies 100b-1 to 100b-m from the command group and transmits them to each of moving bodies 100b-1 to 100b-m. Moving bodies 100b-1 to 100b-m receive the individual commands addressed to them and apply the individual commands to their flight control.

[0019] (2) Details of the moving object FIG. 3 shows the structure of mobile objects 100a-1 to 100a-n and 100b-1 to 100b-m (hereinafter referred to as mobile object 100). CPU 300 controls various electrical and mechanical components of mobile object 100 according to a control program stored in memory 301. CPU is an abbreviation for central processing unit. Note that all or part of the functions realized by CPU 300 may be realized by multiple CPU cores, an application-specific integrated circuit (ASIC), a digital signal processing circuit (DSP), a field programmable gate array (FPGA), or the like. Memory 301 includes storage circuits such as read-only memory (ROM) and random access memory (RAM).

[0020] The power supply circuit 303 supplies power from the battery 302 to the CPU 300, memory 301, wireless communication circuit 304, positioning circuit 305, and moving mechanism 306. The wireless communication circuit 304 is a communication circuit for wireless communication with the base station server 110. The type of wireless communication may be any of wireless LAN, 5G, Beyond 5G, 6G, etc. The wireless communication circuit 304 may simultaneously perform wireless communication using multiple different wireless communication methods. The positioning circuit 305 measures the position of the moving object 100 by receiving signals from a GNSS (Global Navigation Satellite System) and outputs position information indicating the position of the moving object 100. The moving mechanism 306 includes multiple propellers and motors for driving the propellers.

[0021] The CPU 300 performs various functions according to a control program. The location acquisition unit 311 controls the positioning circuit 305 to acquire location information m of the mobile object 100. The authenticator assignment unit 312 assigns a message authenticator to the location information m. For example, a message authenticator is authentication information assigned to prevent tampering and impersonation of location information. A common key required for assigning and verifying the message authenticator is generated in advance for each mobile object 100. The generated common key t is held only by the corresponding unique mobile object 100 and the control server 120 under the control of the company to which the mobile object 100 belongs. For example, the common key ta-1 of the mobile object 100a-1 of Company A is held only by the mobile object 100a-1 of Company A and Company A's control server 120a. The common key tb-m of Company B's mobile object 100b-m is held only by the mobile object 100b-m of Company B and Company B's control server 120b. The location transmission unit 313 transmits the individual location information m with the message authentication code t attached to it to the base station server 110 via the wireless communication circuit 304 .

[0022] The command receiving unit 321 receives individual commands transmitted from the control server 120 via the base station server 110 and the wireless communication circuit 304. The authenticator verifying unit 322 verifies the message authenticator assigned to the individual command by the control server 120. If the verification of the message authenticator is successful, the movement control unit 323 controls the movement mechanism 306 in accordance with the individual command. The individual command may include the direction of travel, the movement speed, the destination, etc.

[0023] (3) Details of the base station server 110 4 shows the structure of the base station server 110. A CPU 400 controls various electrical components of the base station server 110 in accordance with a control program stored in a memory 401. All or part of the functions implemented by the CPU 400 may be implemented by multiple CPU cores, an ASIC, a DSP, an FPGA, or the like. The memory 401 includes storage devices such as a ROM, a RAM, a solid-state drive (SSD), and a hard disk drive (HDD).

[0024] The power supply circuit 403 converts AC supplied from a commercial AC power source or the like into DC, and supplies DC voltage to the CPU 400, the memory 401, the wireless communication circuit 404, and the wired communication circuit 407. The wireless communication circuit 404 is a communication circuit for wireless communication with the mobile object 100. The type of wireless communication may be any of wireless LAN, 5G, Beyond 5G, 6G, etc. The wired communication circuit 407 is a communication circuit (network interface circuit) for communicating with the control server 120.

[0025] The location receiving unit 411 controls the wireless communication circuit 404 to receive location information m with a message authenticator t attached, transmitted from the mobile object 100. For example, location information ma-1 with a message authenticator ta-1 attached is received from the mobile object 100a-1. Location information ma-n with a message authenticator ta-n is received from the mobile object 100a-n. Location information mb-1 with a message authenticator tb-1 is received from the mobile object 100b-1. Location information mb-m ​​with a message authenticator tb-m is received from the mobile object 100b-m.

[0026] The aggregating unit 412 aggregates (e.g., concatenates) location information m received from multiple mobile objects 100 to generate aggregated location information. For example, the aggregating unit 412 aggregates location information ma-1, ma-2, ..., ma-n to generate aggregated location information ma-1ma-2...ma-n. Similarly, the aggregating unit 412 aggregates location information mb-1, mb-2, ..., mb-m ​​to generate aggregated location information mb-1mb-2...mb-n. In this way, aggregated location information is generated by aggregating individual location information for each logistics company to which the mobile object 100 belongs. Note that the individual location information m may include identification information of the mobile object and identification information of the company to which the mobile object belongs (or identification information of the control server 120 that is the destination of the location information). In this case, the aggregating unit 412 may generate aggregated location information for each company based on this identification information. Alternatively, the aggregating unit 412 may have a list that stores associations between identification information of mobile objects and identification information of control servers 120. In this case, the aggregation unit 412 may obtain from the list the identification information of the control server 120 corresponding to the identification information of the moving body included in the individual location information m, and aggregate multiple individual location information m addressed to the same control server 120.

[0027] The authenticator assigning unit 413 creates an aggregate authenticator T from multiple message authenticators t and assigns it to aggregated location information. For example, aggregate authenticator Ta1-n is created from message authenticators ta-1 to ta-n. Aggregate authenticator Ta1-n is assigned to aggregated location information ma-1, ma-2, ..., ma-n. Similarly, aggregate authenticator Tb1-m is created from message authenticators tb-1 to tb-m. Aggregate authenticator Tb1-m is assigned to aggregated location information mb-1, mb-2, ..., mb-n. In this way, an aggregate authenticator is generated from multiple message authenticators for each logistics company to which the mobile object 100 belongs.

[0028] Alternatively, aggregated location information m1t1m2t2... may be generated by simply concatenating multiple pairs of original message authenticators t and location information m without generating an aggregate authenticator T. In this case, the control server 120 will individually verify the message authenticators t. On the other hand, by employing the aggregate authenticator T, it is possible to significantly reduce traffic between the base station server 110 and the control server 120.

[0029] The location group transmission unit 414 transmits aggregated location information with aggregate authenticators to the control server 120. For example, the location group transmission unit 414 transmits aggregated location information ma-1, ma-2,..., ma-n, Ta1-n with aggregate authenticators to the control server 120a. The location group transmission unit 414 transmits aggregated location information mb-1, mb-2,..., mb-m, Tb1-m with aggregate authenticators to the control server 120b.

[0030] The result receiving unit 421 receives the verification result (authentication result) of the aggregated location information with the aggregate authenticator from the control server 120. A digital signature is attached to this verification result using the private key of the control server 120. The signature verifying unit 422 verifies the digital signature using the public key of the control server 120. For example, if the verification result received from the control server 120a is OK (True) and the attached digital signature is successfully verified, the aggregated location information ma-1, ma-2,..., ma-n of the mobile objects 100a-1 to 100a-n of company A, which is attached to the verification result, can be transferred to another company, company B. Similarly, if the verification result received from the control server 120b is OK and the attached digital signature is successfully verified, the aggregated location information mb-1, mb-2,..., mb-m ​​of the mobile objects 100b-1 to 100b-m of company B, which is attached to the verification result, can be transferred to another company, company A.

[0031] The signature adding unit 423 adds a digital signature to the aggregated location information using the private key of the base station server 110 .

[0032] The location group transmission unit 424 transfers the aggregated location information with the digital signature to the control server 120 of another company. Aggregated location information ma-1, ma-2,..., ma-n of the mobile objects 100a-1 to 100a-n of company A is transmitted to company B. Aggregated location information mb-1, mb-2,..., mb-m ​​of the mobile objects 100b-1 to 100b-m of company B is transmitted to company A.

[0033] The command group receiving unit 431 controls the wired communication circuit 407 to receive a command group transmitted from the control server 120. A command group that aggregates the individual commands for the moving objects 100a-1 to 100a-n is received from the control server 120a. A command group that aggregates the individual commands for the moving objects 100b-1 to 100b-m is received from the control server 120b.

[0034] The signature verification unit 432 verifies the digital signature of the control server 120 that is attached to the command group. For example, the signature verification unit 432 verifies the digital signature of the control server 120a using the public key of the control server 120a that is attached to the command group. Similarly, the signature verification unit 432 verifies the digital signature of the control server 120b using the public key of the control server 120b that is attached to the command group.

[0035] The command sending unit 433 extracts individual commands from the command group whose digital signatures have been successfully verified, assigns a message authenticator to each individual command, and sends the individual commands to the corresponding mobile entities 100. For example, an individual command addressed to the mobile entity 100a-1 is assigned a message authenticator ma-1 for the mobile entity 100a-1, and an individual command addressed to the mobile entity 100b-m is assigned a message authenticator mb-m ​​for the mobile entity 100b-m.

[0036] (4) Details of the control server 120 5 shows the structure of the control server 120. A CPU 500 controls various electrical components of the control server 120 in accordance with a control program stored in a memory 501. All or part of the functions implemented by the CPU 500 may be implemented by multiple CPU cores, an ASIC, a DSP, an FPGA, or the like. The memory 501 includes storage devices such as a ROM, a RAM, an SSD, and a hard disk drive HDD.

[0037] The power supply circuit 503 converts AC supplied from a commercial AC power source or the like into DC and supplies DC voltage to the CPU 500, memory 501, and wired communication circuit 507. The wired communication circuit 507 is a communication circuit (network interface circuit) for communicating with the base station server 110.

[0038] The location receiving unit 511 receives the aggregated location information about the mobile unit 100a of company A and the aggregated location information about the mobile unit 100b of company B from the base station server 110 via the wired communication circuit 507.

[0039] The authenticator verification unit 512 verifies the aggregate authenticator attached to the aggregated location information. For example, the authenticator verification unit 512 performs verification based on the individual location information of the mobile entities 100a-1 to 100a-n included in the aggregated location information, the aggregate authenticator, and the common key group for the mobile entities 100a-1 to 100a-n. Similarly, the authenticator verification unit 512 performs verification based on the individual location information of the mobile entities 100b-1 to 100b-m included in the aggregated location information, the aggregate authenticator, and the common key group for the mobile entities 100b-1 to 100b-m.

[0040] The signature assignment unit 513 assigns a digital signature to the verification result regarding the aggregated location information and the aggregate authenticator using the private key of the control server 120. This prevents tampering with the verification result and spoofing. Note that the verification result may include the aggregated location information and the aggregate authenticator.

[0041] The result transmission unit 514 transmits the verification result with the digital signature attached to the base station server 110. Here, the verification result for the mobile entities 100a-1 to 100a-n and the verification result for the mobile entities 100b-1 to 100b-m are transmitted to the base station server 110 separately.

[0042] The location group receiving unit 521 receives aggregated location information about the mobile objects 100 of other companies transmitted from the base station server 110.

[0043] The signature verification unit 522 verifies the digital signature of the base station server 110 that is attached to the aggregated location information of the mobile units 100 of other companies. This verification is performed using the public key of the base station server 110.

[0044] The creation unit 523 creates individual control information (commands) for the company's own mobile bodies 100 based on the aggregated location information of other companies' mobile bodies 100 whose digital signatures have been successfully verified and the aggregated location information of the company's own mobile bodies 100. For example, the creation unit 523 of the control server 120a creates individual commands (maneuvering commands, course change commands, etc.) for the mobile bodies 100a-i based on the positions of the company's own mobile bodies 100a-j and other companies' mobile bodies 100b-k flying around the mobile body 100a-i of interest, so that these mobile bodies 100 and the mobile body 100a-i of interest can move to their destination without coming into contact with each other. For example, the creation unit 523 imagines a sphere of radius r centered on the mobile body 100a-i of interest, and predicts the positions of other mobile bodies 100 within the sphere after a predetermined time based on their current positions, flight speeds, and flight directions. The creation unit 523 predicts the location of the moving body 100a-i of interest after a predetermined time based on its current position, flight speed, and flight direction. Based on the predicted position of the moving body 100a-i of interest and the predicted positions of the other moving bodies 100, the creation unit 523 creates a command to change the flight speed or flight direction of the moving body 100a-i of interest so as to avoid contact. Similarly, the creation unit 523 of the control server 120b creates an individual command for the moving body 100b-i based on the positions of the company's own moving body 100b-j and the positions of other companies' moving bodies 100a-k, which are flying around the moving body 100b-i of interest, so that these moving bodies 100 and the moving body 100b-i of interest can move to their destination without coming into contact with each other. In this way, individual commands are created for each of the moving bodies 100a-1 to 100a-n and 100b-1 to 100b-m. The creation unit 523 assigns a message authentication code to each individual command using a corresponding common key. For example, a message authentication code is assigned to an individual command for the mobile unit 100a-i using the common key for the mobile unit 100a-i. A message authentication code is assigned to an individual command for the mobile unit 100b-i using the common key for the mobile unit 100b-i.

[0045] Furthermore, the creation unit 523 creates an aggregated command (command group) by aggregating multiple individual commands (with message authenticators) for each logistics company. This message authenticator is used to verify the individual commands in each moving object 100.

[0046] The signature adding unit 524 uses the private key of the control server 120 to add a digital signature to the command group.

[0047] The command transmission unit 525 transmits the command group with the digital signature attached to the base station server 110. The control server 120a transmits the command group for the mobile units 100a-1 to 100a-n to the base station server 110. The control server 120b transmits the command group for the mobile units 100b-1 to 100b-m to the base station server 110.

[0048] Here, multiple individual commands are aggregated, but multiple individual commands may be transmitted from the control server 120 to the mobile unit 100 via the base station server 110 without being aggregated.

[0049] (5) Signal Sequence FIG. 6 is a sequence diagram of signals involved in a series of processes from collecting location information to delivering commands.

[0050] In Sq1, a mobile entity 100a-i belonging to company A transmits its own individual location information ma-i (with message authentication code ta-i) to the base station server 110. i is an index and is a natural number from 1 to n. The base station server 110 receives the individual location information ma-i (with message authentication code ta-i) from the mobile entity 100a-i belonging to company A.

[0051] In Sq2, the base station server 110 creates aggregated location information ma-1...ma-n from the individual location information ma-1 to ma-n (each with message authenticator ta-1 to ta-n) of the mobile units 100a-1 to 100a-n belonging to company A, and also creates an aggregate authenticator Ta1-n from the message authenticators ta-1 to ta-n, assigns the aggregate authenticator Ta1-n to the aggregated location information ma-1...ma-n, and transmits it to company A's control server 120a. company A's control server 120a receives the aggregated location information ma-1...ma-nTa1-n with the assigned aggregate authenticator from the base station server 110.

[0052] In Sq3, Company A's control server 120a verifies the aggregate authenticator Ta-1, attaches a digital signature to the verification result, and transmits it to the base station server 110. The base station server 110 receives the verification result with the digital signature from the control server 120a. Here, it is assumed that the verification result is successful and that the digital signature has also been verified successfully.

[0053] In Sq4, the base station server 110 attaches a digital signature to the aggregated location information ma-1...ma-n of the mobile entities 100a-1 to 100a-n of Company A and transmits it to the control server 120b of Company B. The control server 120b of Company B receives the aggregated location information ma-1...ma-n with the digital signature from the base station server 110. Here too, it is assumed that the digital signature has been successfully verified.

[0054] In Sq5, the mobile entity 100b-j belonging to company B transmits its own individual location information mb-j (with message authentication code tb-j) to the base station server 110. j is an index and is a natural number from 1 to m. The base station server 110 receives the individual location information mb-j (with message authentication code tb-j) from the mobile entity 100b-j belonging to company B.

[0055] In Sq6, the base station server 110 creates aggregated location information mb-1...mb-m from the individual location information mb-1 to mb-m ​​(each with message authenticator tb-1 to tb-m) of the mobile units 100b-1 to 100b-m belonging to company B, and also creates aggregate authenticator Tb1-m from the message authenticators tb-1 to tb-m, attaches aggregate authenticator Tb1-m to the aggregated location information mb-1...mb-m, and transmits it to company B's control server 120b. company B's control server 120b receives the aggregated location information mb-1...mb-m with the attached aggregate authenticator Tb1-m from the base station server 110.

[0056] In Sq7, Company B's control server 120b verifies the aggregate authenticator Tb-1, attaches a digital signature to the verification result, and transmits it to the base station server 110. The base station server 110 receives the verification result with the digital signature from the control server 120b. Here, it is assumed that the verification result is successful and that the digital signature has also been successfully verified.

[0057] In Sq8, the base station server 110 adds a digital signature to the aggregated location information mb-1...mb-m of the mobile units 100b-1 to 100b-m of Company B and transmits it to Company B's control server 120b. Company B's control server 120b receives the aggregated location information mb-1...mb-m with the digital signature from the base station server 110. Here too, it is assumed that the digital signature has been successfully verified.

[0058] At this point, control server 120a of company A has obtained individual position information ma-1 to ma-n of mobile bodies 100a-1 to 100a-n of company A, and individual position information mb-1 to mb-m ​​of mobile bodies 100b-1 to 100b-m of company B. Similarly, control server 120b of company B has obtained individual position information mb-1 to mb-m ​​of mobile bodies 100b-1 to 100b-m of company B, and individual position information ma-1 to ma-n of mobile bodies 100a-1 to 100a-n of company A.

[0059] In Sq9, the control server 120a of Company A creates commands for each of the mobile bodies 100a-1 to 100a-n to prevent contact with other mobile bodies 100 flying nearby, based on the individual location information ma-1 to ma-n of Company A's mobile bodies 100a-1 to 100a-n and the individual location information mb-1 to mb-m ​​of Company B's mobile bodies 100b-1 to 100b-m. The control server 120a of Company A then creates a command group by aggregating the commands, attaching a digital signature to the command group, and transmitting the command group to the base station server 110. The base station server 110 receives the command group with the digital signature from the control server 120a. It is assumed that the digital signature is successfully verified. Each command may include identification information of the mobile body 100 that is the final destination.

[0060] In Sq10, the base station server 110 extracts n individual commands (command + message authenticator) from the command group and transmits each of the n individual commands to the corresponding mobile unit 100a. The mobile units 100a-1 to 100a-n each receive the individual command addressed to them. Again, it is assumed that the message authenticator verification is successful. The mobile units 100a-1 to 100a-n each execute the individual command addressed to them.

[0061] In Sq11, based on the individual location information mb-1 to mb-m ​​of Company B's mobile bodies 100b-1 to 100b-m and the individual location information ma-1 to ma-n of Company A's mobile bodies 100a-1 to 100a-n, Company B's control server 120b creates commands to prevent each of the mobile bodies 100b-1 to 100b-m from coming into contact with other mobile bodies 100 flying around them, assigns a corresponding message authentication code to each command, aggregates the commands to create a command group, assigns a digital signature to the command group, and transmits the command group to the base station server 110. The base station server 110 receives the command group with the digital signature from the control server 120b. It is assumed that the digital signature is successfully verified.

[0062] In Sq12, the base station server 110 extracts m individual commands (command + message authenticator) from the command group and transmits each of the m individual commands to the corresponding mobile unit 100b. The mobile units 100b-1 to 100b-m each receive the individual command addressed to them. Again, it is assumed that the message authenticator verification is successful. The mobile units 100b-1 to 100b-m each execute the individual command addressed to them.

[0063] (6) Flowchart of moving objects FIG. 7 is a flowchart showing the processing executed by the CPU 300 of the moving object 100 in accordance with the control program.

[0064] In S701, the CPU 300 (position acquisition unit 311) determines whether it is acquisition timing. For example, the CPU 300 acquires the current time from a real-time clock (RTC) and determines whether the current time matches the acquisition timing. Note that the acquisition timing may be, for example, a timing that occurs at a fixed interval. If the current time is acquisition timing, the CPU 300 proceeds from S701 to S702. If the current time is not acquisition timing, the CPU 300 proceeds from S701 to S705.

[0065] In S702, the CPU 300 (position acquisition unit 311) acquires position information by controlling the positioning circuit 305. The positioning circuit 305 may be a GNSS receiver.

[0066] In S703, the CPU 300 (the authenticator assigner 312) assigns a message authenticator to the location information. The message authenticator is generated using a common key held only by the mobile object 100 and the control server 120.

[0067] In S704, the CPU 300 (location transmitting unit 313) controls the wireless communication circuit 304 to transmit the location information (individual location information) with the message authenticator to the base station server 110. The individual location information may be provided with mobile unit identification information for distinguishing each mobile unit, and identification information of the logistics company to which each mobile unit belongs (or identification information of the control server 120).

[0068] In S705, the CPU 300 (command receiving unit 321) controls the wireless communication circuit 304 to determine whether a command has been received from the base station server 110. If a command has been received, the CPU 300 proceeds from S705 to S706. If a command has been received, the CPU 300 ends this processing. In other words, the CPU 300 proceeds from S705 to S701.

[0069] In S706, the CPU 300 (the authenticator verification unit 322) verifies the message authenticator attached to the command using the common key that it possesses.

[0070] In S707, the CPU 300 (mobile control unit 323) determines whether the verification of the message authentication code was successful. If the verification failed, the CPU 300 discards the received command without executing it. On the other hand, if the verification was successful, the CPU 300 proceeds from S707 to S708.

[0071] In S708, the CPU 300 (movement control unit 323) executes the received command. After that, the CPU 300 proceeds to S701. In this way, S701 to S708 are repeatedly executed.

[0072] (7) Base station server flowchart (7-1) Distribution of location information FIG. 8 is a flowchart showing the location information distribution process executed by the CPU 400 in accordance with the control program.

[0073] In S801, the CPU 400 (position receiving unit 411) determines whether or not individual position information has been received from any of the moving objects 100. If individual position information has been received, the CPU 400 proceeds from S801 to S802. If individual position information has not been received, the CPU 400 proceeds from S801 to S805.

[0074] In S802, the CPU 400 (aggregation unit 412) aggregates multiple pieces of individual location information for each logistics company to generate aggregated location value information. For example, the CPU 400 may classify multiple pieces of individual location information based on the identification information of the logistics company (identification information of the control server 120) included in the individual location information, and generate aggregated location information for each company. As described above, the list may be used to identify the identification information of the logistics company (identification information of the control server 120) from the moving object identification information.

[0075] In S803, the CPU 400 (the authenticator assigning unit 413) assigns an aggregate authenticator to the aggregated location information. The CPU 400 generates the aggregate authenticator from a plurality of message authenticators assigned to each of a plurality of pieces of individual location information classified by company.

[0076] In S804, the CPU 400 (location group transmission unit 414) transmits the aggregated location information with the aggregate authenticator attached to the control server 120. The aggregated location information about the mobile body 100a of company A is transmitted to the control server 120a. The aggregated location information about the mobile body 100b of company B is transmitted to the control server 120b.

[0077] In S805, the CPU 400 (result receiving unit 421) determines whether or not the verification result of the aggregate authenticator has been received from the control server 120. If the verification result has been received from the control server 120, the CPU 400 proceeds from S805 to S808. If the verification result has not been received from the control server 120, the CPU 400 proceeds from S805 to S801.

[0078] In S806, the CPU 400 (signature verification unit 422) verifies the digital signature attached to the verification result. The CPU 400 verifies the digital signature using the public key of the control server 120.

[0079] In S807, the CPU 400 (signature verification unit 422) determines whether the verification of the digital signature has been successful. If the verification of the digital signature has been successful, the CPU 400 proceeds from S807 to S808. If the verification of the digital signature has failed, the CPU 400 proceeds from S807 to S801.

[0080] In S808, the CPU 400 (determination unit 425) determines whether or not the verification of the aggregate authenticator has been successful based on the received verification result. If the verification of the aggregate authenticator has been successful, the CPU 400 proceeds from S808 to S809. If the verification of the aggregate authenticator has failed, the CPU 400 proceeds from S808 to S801.

[0081] In S809, the CPU 400 (location group transmission unit 424) transmits the aggregated location information previously received together with the verification result from the mobile object 100 or the control server 120 to the control server 120 of another company. At this time, the signature assignment unit 423 may assign a digital signature to the aggregated location information using the private key of the base station server 110. The CPU 400 proceeds from S809 to S801.

[0082] (7-2) Command distribution FIG. 9 is a flowchart showing a command distribution process executed by the CPU 400 in accordance with the control program.

[0083] In S901, the CPU 400 determines whether or not a command group has been received from the control server 120. If a command group has been received, the CPU 400 proceeds from S901 to S902. If a command group has not been received, the CPU 400 ends the distribution process (repeating S901).

[0084] In S902, the CPU 400 verifies the digital signature of the control server 120 that is attached to the command group.

[0085] In S903, the CPU 400 determines whether or not the verification of the digital signature of the control server 120 is successful. If the verification is successful, the CPU 400 proceeds from S903 to S904. If the verification is not successful, the CPU 400 proceeds from S903 to S901.

[0086] In S904, the CPU 400 extracts individual commands from the command group, that is, separates a plurality of individual commands from the command group.

[0087] In S905, the CPU 400 transmits the individual command to the moving object 100. The CPU 400 proceeds from S905 to S901.

[0088] (8) Control server flow chart FIG. 10 is a flowchart showing the process of receiving aggregated location information of the company that is executed by the CPU 500 in accordance with the control program.

[0089] In S1001, the CPU 500 (position receiving unit 511) determines whether or not the aggregated position information of the company has been received from the base station server 110. If the aggregated position information of the company has been received, the CPU 500 proceeds from S1001 to S1002. If the aggregated position information of the company has not been received, the CPU 500 repeats S1001.

[0090] In S1002, the CPU 500 (authenticator verification unit 512) verifies the aggregate authenticator attached to the aggregated location information.

[0091] In S1003, the CPU 500 (authenticator verification unit 512) determines whether the verification of the aggregate authenticator is successful. If the verification of the aggregate authenticator is successful, the CPU 500 proceeds from S1003 to S1004. If the verification of the aggregate authenticator is not successful, the CPU 500 discards the received aggregated location information of its own company and proceeds to S1005.

[0092] In S1004, the CPU 500 (creation unit 523) stores the aggregated location information of the company in the memory 501.

[0093] In S1005, the CPU 500 (signature adding unit 524) adds a digital signature using the private key of the control server 120 to the verification result of the aggregate authenticator.

[0094] In S1006, the CPU 500 (result transmission unit 514) controls the wired communication circuit 507 to transmit the verification result (with digital signature) of the aggregate authenticator to the base station server 110. The verification result may be accompanied by aggregated location information and the aggregate authenticator. The CPU 500 proceeds from S1006 to S1001.

[0095] FIG. 11 is a flowchart showing the process of receiving aggregated location information of other companies, which is executed by the CPU 500 in accordance with the control program.

[0096] In S1101, the CPU 500 (location group receiving unit 521) determines whether or not aggregated location information of other companies has been received from the base station server 110. If aggregated location information of other companies has been received, the CPU 500 proceeds from S1101 to S1102. If aggregated location information of other companies has not been received, the CPU 500 repeats S1001.

[0097] In S1102, the CPU 500 (signature verification unit 522) verifies the digital signature of the base station server 110 that is attached to the aggregated location information.

[0098] In S1103, the CPU 500 (signature verification unit 522) determines whether or not the verification of the digital signature of the base station server 110 has been successful. If the verification is successful, the CPU 500 proceeds from S1103 to S1104. If the verification is unsuccessful, the CPU 500 discards the received aggregated location information of other companies and proceeds to S1101.

[0099] In S1104, the CPU 500 (creation unit 523) stores the aggregated location information of other companies in the memory 501.

[0100] In S1105, the CPU 500 (creation unit 523) creates an individual command with a message authentication code for each of the mobile entities 100 of the company.

[0101] In S1106, the CPU 500 (signature unit 524) aggregates the individual commands to create a command group with a digital signature. The digital signature is executed using the private key of the control server 120.

[0102] In S1107, the CPU 500 (command transmission unit 525) transmits the group of commands with the digital signature to the base station server 110. The CPU 500 proceeds from S1107 to S1101.

[0103] Example B In the embodiment A, the aggregation process of a plurality of pieces of individual location information is executed in the base station server 110. In this case, the effect of reducing traffic in the air section between the mobile object 100 and the base station server 110 cannot be expected.

[0104] Therefore, in Example B, a plurality of mobile bodies 100 are organized into a formation, and one of the plurality of mobile bodies 100 becomes a leader mobile body 100-z and executes the aggregation process of a plurality of pieces of individual position information. Similarly, the leader mobile body 100-z may also be responsible for the separate distribution process of the command group executed by the base station server 110. In this way, the hyphenated z attached to the reference symbol indicates that it is a leader mobile body.

[0105] (1) Communication Systems 12 shows a communication system of embodiment B. In embodiment B, the same reference numerals are assigned to the items common to embodiment A, and the description of embodiment A is incorporated herein by reference.

[0106] In FIG. 12, the formation 1200a consists of mobile bodies 100a-1 to 100a-n of Company A and a leader mobile body 100a-z. The mobile bodies 100a-1 to 100a-n of Company A transmit their individual position information to the leader mobile body 100a-z. The leader mobile body 100a-z aggregates the individual position information of the mobile bodies 100a-1 to 100a-n and the individual position information of the leader mobile body 100a-z, creates aggregated position information for the formation 1200a, and transmits it to the base station server 110. The base station server 110 transfers the aggregated position information received from the leader mobile bodies 100a-z to the control server 120a.

[0107] The control server 120a verifies the aggregate authenticator attached to the aggregated location information and transmits the verification result to the base station server 110. The verification result may be accompanied by the aggregated location information and the aggregate authenticator.

[0108] If the control server 120a successfully verifies the aggregate authenticator for the aggregated location information received from the leader mobile unit 100a-z, the base station server 110 delivers the aggregated location information received from the leader mobile unit 100a-z or accompanying the verification result to the control server 120b.

[0109] The formation 1200b consists of mobile bodies 100b-1 to 100b-m of Company B and a leader mobile body 100m-z. The mobile bodies 100b-1 to 100b-m of Company B transmit their individual position information to the leader mobile body 100b-z. The leader mobile body 100b-z aggregates the individual position information of the mobile bodies 100b-1 to 100b-m and the individual position information of the leader mobile body 100b-z, creates aggregated position information for the formation 1200b, and transmits it to the base station server 110. The base station server 110 transfers the aggregated position information received from the leader mobile body 100b-z to the control server 120b.

[0110] The control server 120b verifies the aggregate authenticator attached to the aggregated location information and transmits the verification result to the base station server 110. The verification result may be accompanied by the aggregated location information and the aggregate authenticator.

[0111] If the control server 120b successfully verifies the aggregate authenticator for the aggregated location information received from the leader mobile unit 100b-z, the base station server 110 delivers the aggregated location information received from the leader mobile unit 100b-z or accompanying the verification result to the control server 120a.

[0112] Control servers 120a and 120b create a group of commands based on the aggregated position information of formation 1200a and the aggregated position information of formation 1200b, and transmit the group of commands to base station server 110.

[0113] The base station server 110 transmits the command group received from the control server 120a to the leader mobiles 100a-z, and the base station server 110 transmits the command group received from the control server 120b to the leader mobiles 100b-z.

[0114] The leader mobile unit 100a-z breaks down the command group into individual commands and distributes them to the mobile units 100a-1 to 100a-n. The leader mobile unit 100b-z breaks down the command group into individual commands and distributes them to the mobile units 100b-1 to 100b-m.

[0115] (2) Structure of the moving body Here, the structure of the leader mobile bodies 100a-z, 100b-z will be explained. The structure of the other mobile bodies (hereinafter referred to as member mobile bodies) in the formation 1200 other than the leader mobile body 100 is as explained in embodiment A. However, the communication partner of the member mobile body 100 will be changed from the base station server 110 to the leader mobile body 100.

[0116] 13 shows the structure of the leader mobile bodies 100a-z and 100b-z. Each of the leader mobile bodies 100a-z and 100b-z also has the function of a member mobile body 100. The leader function 1300 is a function that is realized by the CPU 300 in accordance with a control program.

[0117] The team leader function 1300 has a command transfer unit 1301 in addition to the location receiving unit 411, aggregation unit 412, authentication code assigning unit 413, and location group transmitting unit 414 that are provided in the base station server 110 in embodiment A.

[0118] The location receiving unit 411 controls the wireless communication circuit 404 to receive location information m with a message authenticator t attached, transmitted from a member mobile unit 100. For example, location information ma-1 with a message authenticator ta-1 attached is received from the mobile unit 100a-1. Location information ma-n with a message authenticator ta-n is received from the mobile unit 100a-n. Location information mb-1 with a message authenticator tb-1 is received from the mobile unit 100b-1. Location information mb-m ​​with a message authenticator tb-m is received from the mobile unit 100b-m.

[0119] The aggregating unit 412 aggregates the location information m received from multiple moving objects and its own location information to create aggregated location information. For example, the aggregating unit 412 aggregates the location information ma-1, ma-2, ..., ma-n, and ma-z to create aggregated location information ma-1ma-2...ma-nma-z. In this way, the individual location information is aggregated for each logistics company to which the moving object 100 belongs, and aggregated location information is generated.

[0120] The authenticator assigning unit 413 creates an aggregate authenticator T from multiple message authenticators and assigns it to the aggregated location information. The multiple message authenticators include the message authenticators of the member mobile bodies 100 and the message authenticator of the leader mobile body 100. For example, for the formation 1200a, an aggregate authenticator Ta1-z is created from the message authenticators ta-1 to ta-n and ta-z. The aggregate authenticator Ta1-z is assigned to the aggregated location information ma-1, ma-2, ..., ma-n, ma-z. In this way, an aggregate authenticator is generated from multiple message authenticators for each logistics company to which the mobile body 100 belongs.

[0121] The location group transmission unit 414 controls the wireless communication circuit 404 to transmit the aggregated location information with the aggregate authenticator to the base station server 110. For example, the location group transmission unit 414 transmits the aggregated location information ma-1ma-2...ma-nma-zTa1-z with the aggregate authenticator to the control server 120a.

[0122] The command transfer unit 1301 receives a group of commands transmitted from the control server 120 and transferred by the base station server 110, separates the group of commands into a plurality of individual commands, and transmits each individual command to the corresponding member mobile body 100. The command transfer unit 1301 stores the individual commands for the leader mobile body 100 in the memory 301. For the individual commands for the leader mobile body 100, the authenticator verification unit 322 verifies the message authenticator.

[0123] (3) Base station server structure 14 shows the structure of the base station server 110 of embodiment B. The position group transfer unit 1401 controls the wireless communication circuit 404 to communicate with the leader mobile units 100a-z, receive aggregated position information of the formation 1200a, and transfer the aggregated position information to the control server 120a. Similarly, the position group transfer unit 1401 controls the wireless communication circuit 404 to communicate with the leader mobile units 100b-z, receive aggregated position information of the formation 1200b, and transfer the aggregated position information to the control server 120b.

[0124] The command sending unit 433 transfers to the leader mobile bodies 100a-z the command group that has been received from the control server 120a by the command group receiving unit 431 and whose digital signature has been verified by the signature verifying unit 432. Similarly, the command sending unit 433 transfers to the leader mobile bodies 100b-z the command group that has been received from the control server 120b by the command group receiving unit 431 and whose digital signature has been verified by the signature verifying unit 432.

[0125] (4) Signal Sequence 15 is a sequence diagram of signals involved in a series of processes from location information collection to command delivery in embodiment B. Here, it is assumed that the verification of the digital signature, message authenticator, and aggregate authenticator are all successful.

[0126] In Sq21, the member mobile bodies 100a-1 to 100a-n of the formation 1200a each transmit individual position information with a message authenticator to the leader mobile body 100a-z. The leader mobile body 100a-z receives the individual position information with a message authenticator from each of the member mobile bodies 100a-1 to 100a-n.

[0127] In Sq22, the leader mobile unit 100a-z aggregates the received individual location information of the member mobile units 100a-1 to 100a-n and its own individual location information to create aggregated location information, generates an aggregate authenticator from the message authenticators of the member mobile units 100a-1 to 100a-n and its own message authenticator, attaches it to the aggregated location information, and transmits it to the base station server 110. The base station server 110 receives the aggregated location information with the aggregate authenticator from the leader mobile unit 100a-z.

[0128] In Sq23, the base station server 110 transfers the aggregated location information with the aggregate authenticator received from the leader mobile units 100a-z to the control server 120a. The control server 120a receives the aggregated location information with the aggregate authenticator for the formation 1200a from the base station server 110.

[0129] In Sq24, the control server 120a attaches its digital signature to the verification result of the aggregate authenticator and transmits the verification result with the digital signature to the base station server 110. The verification result includes whether the verification was successful (True / False) and the aggregated location information of the formation 1200a. The base station server 110 receives the verification result with the digital signature from the control server 120a.

[0130] In Sq25, the base station server 110 adds the digital signature of the base station server 110 to the aggregated location information of the formation 1200a and transmits it to the control server 120b. The control server 120b receives the aggregated location information of the formation 1200a from the base station server 110.

[0131] In Sq31, the member mobile bodies 100b-1 to 100b-m of the formation 1200b each transmit individual position information with a message authenticator to the leader mobile body 100b-z. The leader mobile body 100b-z receives the individual position information with a message authenticator from each of the member mobile bodies 100b-1 to 100b-m.

[0132] In Sq32, the leader mobile unit 100b-z aggregates the received individual location information of the member mobile units 100b-1 to 100b-m and its own individual location information to create aggregated location information, generates an aggregate authenticator from the message authenticators of the member mobile units 100b-1 to 100b-m and its own message authenticator, attaches it to the aggregated location information, and transmits it to the base station server 110. The base station server 110 receives the aggregated location information with the aggregate authenticator for the formation 1200b from the leader mobile unit 100b-z.

[0133] In Sq33, the base station server 110 transfers the aggregated location information with the aggregate authenticator received from the leader mobile units 100b-z to the control server 120b. The control server 120b receives the aggregated location information with the aggregate authenticator for the formation 1200b from the base station server 110.

[0134] In Sq34, the control server 120b attaches its digital signature to the verification result of the aggregate authenticator and transmits the verification result with the digital signature to the base station server 110. The verification result includes whether the verification was successful and the aggregated location information of the formation 1200b. The base station server 110 receives the verification result with the digital signature from the control server 120b.

[0135] In Sq35, the base station server 110 adds the digital signature of the base station server 110 to the aggregated location information of the formation 1200b and transmits it to the control server 120a. The control server 120a receives the aggregated location information of the formation 1200b from the base station server 110.

[0136] In Sq41, the control server 120a of Company A creates commands to prevent each of the mobile bodies 100a-1 to 100a-n and 100a-z from coming into contact with other mobile bodies 100 flying nearby, based on the individual location information ma-1 to ma-n and ma-z of Company A's mobile bodies 100a-1 to 100a-n and 100a-z and the individual location information mb-1 to mb-m ​​and mb-z of Company B's mobile bodies 100b-1 to 100b-m and 100b-z. The control server 120a of Company A then creates a command group by aggregating the commands, attaching a digital signature to the command group, and transmitting the command group to the base station server 110. The base station server 110 receives the command group with the digital signature from the control server 120a. It is assumed that the digital signature verification is successful.

[0137] In Sq42, the base station server 110 transmits a group of commands for the formation 1200a to the leader mobile units 100a-z. The leader mobile units 100a-z receive the group of commands for the formation 1200a from the base station server 110. The group of commands includes pairs (n+1 pairs) of individual commands and message authentication codes.

[0138] In Sq43, the leader mobile unit 100a-z extracts the individual command (with message authenticator) from the command group received from the base station server 110 and transfers it to the member mobile units 100a-1 to 100a-n. The member mobile units 100a-1 to 100a-n receive and execute the individual command (with message authenticator) addressed to them. The leader mobile unit 100a-z stores the individual command addressed to it in memory 301 and executes it.

[0139] In Sq51, the control server 120b of company B creates commands to prevent each of the moving bodies 100b-1 to 100b-m and 100b-z from coming into contact with other moving bodies 100 flying nearby, based on the individual location information mb-1 to mb-m ​​and mb-z of company B's moving bodies 100b-1 to 100b-m and 100b-z of company B and the individual location information mb-1 to mb-m ​​and mb-z of company B's moving bodies 100b-1 to 100b-m and 100b-z of company B, assigns a corresponding message authentication code to each command, aggregates the commands to create a command group, assigns a digital signature to the commands, and transmits them to the base station server 110. The base station server 110 receives the command group with the digital signature from the control server 120b. It is assumed that the digital signature verification is successful.

[0140] In Sq52, the base station server 110 transmits a group of commands for the formation 1200b to the leader mobile 100b-z. The leader mobile 100b-z receives the group of commands for the formation 1200b from the base station server 110. The group of commands includes pairs (m+1 pairs) of individual commands and message authentication codes.

[0141] In Sq53, the leader mobile unit 100b-z extracts the individual command (with message authenticator) from the command group received from the base station server 110 and transfers it to the member mobile units 100b-1 to 100b-m. The member mobile units 100b-1 to 100b-m receive and execute the individual command (with message authenticator) addressed to them. The leader mobile unit 100b-z stores the individual command addressed to it in memory 301 and executes it.

[0142] (5) Flowchart of the leader's mobile unit (5-1) Location information aggregation and transfer processing 16 shows the location information aggregation and transfer process executed by the CPU 300 of the leader mobile units 100a-z in accordance with a control program. The CPU 300 of the leader mobile units 100b-z also executes similar processes.

[0143] In S1601, the CPU 300 (position receiving unit 411) receives individual position information (with message authentication code) from each of the member mobile objects 100a-1 to 100a-n.

[0144] In S1602, the CPU 300 (position acquisition unit 311) acquires the position information of the own device (the leader mobile device 100b-z) from the positioning circuit 305. The CPU 300 generates a message authentication code for the own device and assigns it to the position information of the own device.

[0145] In S1603, CPU 300 (aggregation unit 412) aggregates the individual position information of each of member moving bodies 100a-1 to 100a-n and the individual position information of its own vehicle to generate aggregated position information of formation 1200a.

[0146] In S1604, the CPU 300 (authenticator assigning unit 413) generates an aggregate authenticator from the message authenticators of the member mobile objects 100a-1 to 100a-n and its own message authenticator, and assigns the aggregate authenticator to the aggregated location information.

[0147] In S1605, the CPU 300 (location group transmission unit 414) controls the wireless communication circuit 304 to transmit the aggregated location information (with aggregate authenticator) to the base station server 110.

[0148] (5-2) Transfer process of individual commands (distribution process) 17 shows the transfer process (distribution process) of individual commands that the CPU 300 of the leader mobile unit 100a-z executes in accordance with the control program. The CPU 300 of the leader mobile unit 100b-z also executes the same process.

[0149] In S1701, the CPU 300 (command transfer unit 1301) controls the wireless communication circuit 304 to receive a group of commands from the base station server 110.

[0150] In S1702, the CPU 300 (command transfer unit 1301) extracts multiple individual commands (with message authentication codes) from the command group. The multiple individual commands include n individual commands addressed to each of the member mobile objects 100a-1 to 100a-n and an individual command addressed to the leader mobile object 100a-z.

[0151] In S1703, the CPU 300 (command transfer unit 1301) transmits n individual commands (with message authentication codes) addressed to the member mobile objects 100a-1 to 100a-n, respectively.

[0152] In S1704, the CPU 300 (command transfer unit 1301) acquires an individual command (with a message authentication code) addressed to the own vehicle (addressed to the leader mobile units 100a-z) from the command group.

[0153] Thereafter, the CPU 300 executes steps S706 to S708 for the individual commands addressed to the own mobile unit (addressed to the leader mobile units 100a-z).

[0154] (6) Base station server flowchart (6-1) Location information transfer process FIG. 18 shows a location information transfer process executed by the CPU 400 of the base station server 110 in accordance with a control program.

[0155] In S1801, the CPU 400 (location group transfer unit 1401) controls the wireless communication circuit 404 to determine whether aggregated location information has been received from the leader mobile object 100a-z (or the leader mobile object 100b-z).

[0156] In S1802, the CPU 400 (location group transfer unit 1401) controls the wired communication circuit 407 to transfer the aggregated location information received from the leader mobile body 100a-z (or leader mobile body 100b-z) to the control server 120a (or control server 120b).

[0157] Thereafter, the CPU 400 executes steps S805 to S809.

[0158] (6-2) Command transfer process FIG. 19 shows a command transfer process that the CPU 400 of the base station server 110 executes in accordance with a control program.

[0159] After executing S901 to S903, the CPU 400 executes S1904. In S1904, the CPU 400 (command transmitting unit 433) controls the wireless communication circuit 404 to transmit a group of commands to the leader mobile body. That is, the CPU 400 transmits a group of commands addressed to the formation 1200a or the leader mobile body 100a-z to the leader mobile body 100a-z. The CPU 400 transmits a group of commands addressed to the formation 1200b or the leader mobile body 100b-z to the leader mobile body 100b-z.

[0160] The individual location information may include challenge data (random numbers) in addition to latitude, longitude, altitude, time, message authentication code, and identification information (e.g., identification information for distinguishing a company, a mobile unit, a formation, etc.). In this case, the command may be accompanied by response data generated from the challenge data and time attached to the individual location information. In this case, the mobile unit 100 may generate comparison data from the challenge data attached to the individual location information and the time, and compare it with the response data attached to the command to determine the validity of the command.

[0161] The embodiment A may be applied to the mobile bodies 100a-1 to 100a-n of company A, and the embodiment B may be applied to the mobile bodies 100b-1 to 100b-m and 100b-z of company B.

[0162] Example C In Example B, multiple mobile units each assign a message authentication code to their individual location information and transmit it to the commander mobile unit, which then aggregates the multiple individual location information, assigns an aggregate authentication code to it, and transmits it to the control server, which then generates commands to control each mobile unit. This is expected to reduce traffic in the air space between the mobile unit 100 and the base station server 110.

[0163] However, in Example B, the control server analyzes the individual position information and generates commands, which places a heavy load on the control server. Furthermore, because position information and commands must be transferred between the base station server and the control server, delays in this area can be an issue. In particular, the control server of a certain company receives individual position information for numerous mobile objects belonging to that company and numerous mobile objects belonging to other companies, which further increases the load on the control server. Incidentally, when other member mobile objects fly in formation with a leader mobile object as described in Example B, the position information of the mobile objects required in the formation is the position information of the mobile objects within the formation and the position information of other mobile objects flying in the same airspace as the formation. Therefore, if the leader mobile object can collect the individual position information of the mobile objects flying in the airspace and generate commands for the multiple member mobile objects under the command of the leader mobile object, it is believed that delays in controlling the mobile objects will be less likely to occur.

[0164] Therefore, in embodiment C, multiple mobile bodies 100 form a formation, and one of the multiple mobile bodies 100 serves as a leader mobile body 100-z, which collects multiple individual position information and performs aggregation processing. The individual position information aggregated by the leader mobile body 100-z of a first formation of a certain company is transferred via the base station server 110 to other leader mobile bodies 100-z of that company (the leader aircraft of the second formation) and to the leader mobile body 100-z of another company (the leader aircraft of the third formation). The base station server 110 may also transfer the individual position information of the first formation to the second and third formations flying in the same airspace as the first formation. The leader mobile bodies 100-z of the second and third formations use the individual position information of the first formation to generate commands for the member mobile bodies (multiple mobile bodies 100) under their control and transmit the commands to each member mobile body. In addition, digital signatures are attached to location information and commands to ensure authenticity and non-tampering.

[0165] (1) Communication Systems The communication system of embodiment C is as shown in Figure 12. Therefore, in embodiment C, the same reference numerals are assigned to the same elements as in embodiment A or embodiment B, and the description of embodiment A or embodiment B is incorporated herein by reference. Here, for simplicity of explanation, only a formation 1200a of company A and a formation 1200b of company B are illustrated. However, company A may have multiple formations 1200a, and company B may have multiple formations 1200b. Furthermore, a formation of company C may also be present.

[0166] In FIG. 12, formation 1200a consists of mobile units 100a-1 to 100a-n of company A and leader mobile unit 100a-z. Company A's mobile units 100a-1 to 100a-n transmit their individual location information to leader mobile unit 100a-z. Leader mobile unit 100a-z aggregates the individual location information of mobile units 100a-1 to 100a-n and the individual location information of leader mobile unit 100a-z to create aggregated location information for formation 1200a and transmit it to base station server 110. It is assumed that an aggregate signature is attached to the aggregated location information.

[0167] The base station server 110 verifies the aggregate signature attached to the aggregated location information received from the leader mobile units 100a-z, and if the verification is successful, attaches the base station signature to the aggregated location information and transfers it to the leader mobile units 100b-z of Company B. The base station server 110 may also transfer the aggregated location information with the aggregate signature attached to the control server 120a. The control server 120a verifies the aggregate signature attached to the aggregated location information, and if the verification is successful, extracts the individual location information of each mobile unit from the aggregated location information and registers it in a database for location management.

[0168] The formation 1200b consists of mobile units 100b-1 to 100b-m of company B and a leader mobile unit 100m-z. The mobile units 100b-1 to 100b-m of company B transmit their individual location information to the leader mobile unit 100b-z. The leader mobile unit 100b-z aggregates the individual location information of the mobile units 100b-1 to 100b-m and the individual location information of the leader mobile unit 100b-z, creates aggregated location information for the formation 1200b, and transmits it to the base station server 110. Note that an aggregate signature is attached to the aggregated location information.

[0169] The base station server 110 verifies the aggregate signature attached to the aggregated location information received from the leader mobile units 100b-z, and if the verification is successful, attaches the base station signature to the aggregated location information and transfers it to the leader mobile units 100a-z of Company A. The base station server 110 may also transfer the aggregated location information with the aggregate signature attached to it to the control server 120b. The control server 120b verifies the aggregate signature attached to the aggregated location information, and if the verification is successful, extracts the individual location information of each mobile unit from the aggregated location information and registers it in a database for location management.

[0170] The leader mobile body 100a-z creates commands for each of Company A's mobile bodies 100a-1 to 100a-n and for the leader mobile body 100a-z based on the aggregated location information of the formation 1200a and the aggregated location information of the formation 1200b, and sends each command to the mobile bodies 100a-1 to 100a-n while also executing the command addressed to itself.

[0171] The leader mobile unit 100b-z creates commands for each of Company B's mobile units 100b-1 to 100b-m and a command for the leader mobile unit 100m-z based on the aggregated location information of the formation 1200a and the aggregated location information of the formation 1200b, and sends each command to the mobile units 100b-1 to 100b-m while also executing the command addressed to itself.

[0172] (2) Structure of the moving body Here, the structure of the member mobile body 100 and the structure of the leader mobile bodies 100a-z, 100b-z will be explained. In addition, in the explanation of the part in Example C that is common to Example A or Example B, the explanation of the corresponding part in Example A or Example B will be cited.

[0173] (2-1) Structure of the member moving body 100 FIG. 20 shows the structure of the member mobile body 100. Compared to FIG. 3, FIG. 20 differs primarily in that the authenticator assigning unit 312 and authenticator verifying unit 322 are replaced with a signature assigning unit 2101 and signature verifying unit 2102. The signature assigning unit 2101 assigns the digital signature (sometimes simply referred to as a signature) of the member mobile body 100 to the individual location information acquired by the location acquiring unit 311 according to a given digital signature method. The location transmitting unit 313 transmits the individual location information with the digital signature (e.g., the member mobile body's identification information (ID), location information indicating its flight position, time information, challenge, etc.) to the leader mobile body 100a-z / 100b-z of the formation 1200a / 1200b to which it belongs. Here, the time information indicates, for example, the time acquired by the member mobile body 100 at the time the location information is transmitted and is used to protect data freshness to prevent replay attacks. This time information may also be referred to as member transmission time information. The challenge is used by the leader mobile body 100-z (leader mobile body 100a-z / 100b-z) to perform peer authentication between the member mobile body 100 and the leader mobile body 100-z. The challenge may be a random number generated by the leader mobile body 100-z. The challenge may also be information that cannot be considered a random number. The challenge is broadcast in advance from the leader mobile body 100-z to the subordinate member mobile bodies 100 before the subordinate member mobile bodies 100 acquire and transmit their location information. When the peer authentication unit 2103 of the member mobile body 100 receives the challenge, it stores it in the memory 301. This is for generating a response for comparison later. The leader mobile body 100-z confirms that the individual location information transmitted from the member mobile body 100 contains the same value as the random number that it broadcast in advance as a challenge. This allows the leader mobile body 100 to perform peer authentication with the member mobile body 100.

[0174] The command receiving unit 321 receives a command from the leader mobile body 100a-z / 100b-z. The command may include identification information of the member mobile body, control information, time information, a response, etc. The identification information of the member mobile body is used to determine that the command is addressed to the member mobile body. The control information indicates the flight speed, flight direction, etc. The time information indicates the time acquired by the leader mobile body 100-z at the timing of transmitting the control information, and is used to guarantee the freshness of the location information issued by the member mobile body to the leader mobile body and to prevent replay attacks. The response is used to perform peer authentication between the member mobile body 100 and the leader mobile body 100-z. The response is generated from a random number (challenge) generated and broadcast by the leader mobile body 100-z, a common key for peer authentication held by both the leader mobile body 100-z and the member mobile body 100, and member transmission time information received from the member mobile body 100. The leader mobile body 100-z has a challenge it generated, a common key for each member mobile body 100 (linked to the identification information of the member mobile body 100), and member transmission time information for each member mobile body 100 included in the individual location information. Each member mobile body 100 also has the broadcasted challenge, a common key for each member mobile body 100 (its own device), and its own member transmission time information. Therefore, the remote authentication unit 2103 of each member mobile body 100 can generate a response for comparison by using the common key it possesses, the challenge broadcast in advance, and its own member transmission time information. The remote authentication unit 2103 of each member mobile body 100 can determine whether the leader mobile body 100-z that transmitted the control information is the correct remote party by comparing the response received along with the command (control information) with the response it restored.

[0175] The signature verification unit 2102 verifies the digital signature attached to the command received from the leader mobile unit 100a-z / 100b-z by the command receiving unit 321. This digital signature was attached to the command by the leader mobile unit 100a-z / 100b-z. If the verification is successful, the mobility control unit 323 executes the command.

[0176] The other party authentication unit 2103 has the functions of receiving a challenge broadcast from the leader mobile body, storing the challenge in memory 301, reading the challenge, member transmission time information and common key stored in memory 301 and generating a comparison response from these, and performing other party authentication by comparing the response received from the leader mobile body with the comparison response.

[0177] (2-2) Structure of the Commander Mobile Unit 100-z 21 shows the structure of the leader mobile bodies 100a-z and 100b-z. Each of the leader mobile bodies 100a-z and 100b-z also has the function of a member mobile body 100. The leader function 1300 is a function that is realized by the CPU 300 in accordance with a control program.

[0178] In addition to the location receiving unit 411, aggregation unit 412, and location group transmitting unit 414 described in embodiment B, the leader function 1300 also has a signature assignment unit 2200, a location group receiving unit 2201, a signature verification unit 2202, a command generation unit 2204, a command transmitting unit 2205, and a partner authentication unit 2206.

[0179] The location receiving unit 411 controls the wireless communication circuit 404 to receive location information m with signature s attached, transmitted from the member mobile unit 100. For example, location information ma-1 with signature sa-1 attached is received from the mobile unit 100a-1. Location information ma-n with signature sa-n is received from the mobile unit 100a-n. Location information mb-1 with signature sb-1 is received from the mobile unit 100b-1. Location information mb-m ​​with signature sb-m is received from the mobile unit 100b-m.

[0180] The aggregation unit 412 aggregates the position information m received from multiple moving bodies and its own position information to generate aggregated position information. For example, the aggregation unit 412 aggregates the position information ma-1, ma-2, . . . , ma-n, and ma-z to generate aggregated position information ma-1ma-2...ma-nma-z. In this way, the individual position information is aggregated for each formation 1200 to which the moving body 100 belongs, and aggregated position information is generated.

[0181] The signature assigning unit 2200 generates a digital signature to be assigned to the aggregated location information. For example, the signature assigning unit 2200 creates an aggregate signature S from multiple signatures s and assigns it to the aggregated location information. The multiple signatures include the digital signatures of the member mobile objects 100 and the digital signature of the leader mobile object 100-z. For example, for the formation 1200a, an aggregate signature Sa1-z is created from signatures sa-1 to sa-n and sa-z. The specific method for generating the aggregate signature here may be an already known method or one that will become known in the future. In other words, the present invention is not limited by the aggregate signature method itself. However, the following are already known methods.

[0182] For example, as described in Non-Patent Document 2, a configuration method using an aggregate signature and a group check algorithm may be used. Specifically, the non-adaptive algorithm of Dorfman et al. (Non-Patent Document 3) is assumed as the group check algorithm. The shifted transversal design method (Non-Patent Document 4) or the like is assumed as a method for generating a group test matrix representing the combination of group tests used therein. Specifically, the method of Boneh et al. (Non-Patent Document 5) or the like is assumed as the aggregate signature algorithm. In this case, the leader mobile entity 100-z, which generates the aggregate signature, and the control server 120 or the base station server 110, which verifies the aggregate signature, share a common group test matrix and public parameters of the aggregate signature in advance. Furthermore, since a verification key group corresponding to the signature group to be aggregated is used for signature aggregation, the leader mobile entity 100-z holds this in advance. The leader mobile entity generates aggregate signatures for each of multiple combinations of signatures sa-1 to sa-n and sa-z according to the group test matrix. Each aggregate signature is output from the input of the target location information ma group, the corresponding signature sa group, and the verification key group corresponding to the private key group used for the signature. The aggregate signature Sa1-z is constructed by combining these multiple aggregate signatures.

[0183] The aggregate signature Sa1-z is assigned to the aggregated location information ma-1, ma-2, ..., ma-n, ma-z. In this way, an aggregate signature Sa1-z is generated from multiple digital signatures for each formation 1200 to which the mobile object 100 belongs. The digital signature of the leader mobile object 100-z may be used instead of the aggregate signature.

[0184] The location group transmission unit 414 controls the wireless communication circuit 404 to transmit the aggregated location information with the aggregate signature to the base station server 110. For example, the location group transmission unit 414 transmits aggregated location information ma-1ma-2···ma-nma-zSa1-z with the aggregate signature to the control server 120a.

[0185] The position group receiving unit 2201 receives aggregated position information (with the digital signature of the base station server 110) for other formations 1200 transmitted from the base station server 110 via the wireless communication circuit 304. The signature verification unit 2202 verifies the received digital signature of the base station server 110. If this verification is successful, the command generation unit 2204 generates commands for each of the member moving bodies 100 belonging to its own formation 1200a / 1200b based on the individual position information of the member moving bodies 100 belonging to its own formation 1200a / 1200b stored in memory 301 and the individual position information of the member moving bodies 100 belonging to the other formations 1200b / 1200a. For example, control information is generated to control the flight speed, flight direction, etc. of each member moving body 100 so that it can continue flying to its destination without coming into contact with the other moving bodies 100.

[0186] The command sending unit 2205 adds the digital signature of the leader mobile unit 100-z generated by the signature assigning unit 2200 to the individual command generated by the command generating unit 2204 for each member mobile unit 100, and transmits it to each member mobile unit 100. The command may include identification information of the member mobile unit 100, control information such as speed and flight direction, time information, and a response to a challenge from the member mobile unit 100. The time information indicates the time acquired by the leader mobile unit 100-z when the control information was acquired. This is used to guarantee the data freshness of the control information issued by the leader mobile unit 100-z to the member mobile units 100 and to prevent replay attacks.

[0187] As described above, the response is used in the member mobile body 100 to perform peer authentication between the leader mobile body 100-z and each member mobile body 100. The peer authentication unit 2206 may generate the response as an authenticator using the member transmission time information included in the individual location information of the member mobile body 100, the broadcasted challenge, and a common key for each member mobile body 100. The peer authentication unit 2103 of the member mobile body 100 generates a response for comparison using the member transmission time information, challenge, and its own common key that it has previously issued. For example, the response may be calculated (hash operation) as a hash value of the time information, challenge, and its own common key that it has previously issued. The peer authentication unit 2103 performs peer authentication by confirming that the response received together with the control information from the leader mobile body 100-z matches the response for comparison.

[0188] The peer authentication unit 2206 generates a random number to be used as a challenge, broadcasts the random number to the member mobile bodies 100 under its control, and stores the random number in memory 301. This broadcasting is performed before the member mobile body 100 transmits its individual location information. The peer authentication unit 2206 also authenticates each member mobile body 100 by determining whether the challenge included in the individual location information matches the challenge it generated and broadcast.

[0189] The command generation unit 2204 also generates an individual command for the leader mobile body 100 and stores it in the memory 301. The movement control unit 323 of the leader mobile body 100 reads out the individual command for the leader mobile body 100 from the memory 301 and executes it.

[0190] The partner authentication unit 2206 has the functions of generating a broadcast challenge, broadcasting (transmitting) the challenge, storing the challenge in memory 301, receiving a comparison challenge included in the individual location information for each member mobile unit, and performing partner authentication by comparing the challenge stored in memory 301 with the comparison challenge received for each member mobile unit. The partner authentication unit 2206 has the functions of reading the challenge, member transmission time information, and common key stored in memory 301 for each member mobile unit and generating a response from these. The member transmission time information and common key may be different for each member mobile unit. Therefore, this information is stored in memory 301 in association with the identification information (ID) of the member mobile unit and can be read out based on the identification information (ID) of the member mobile unit.

[0191] (3) Base station server structure 22 shows the structure of the base station server 110 of embodiment C. The position group receiving unit 2301 controls the wireless communication circuit 404 to communicate with the leader mobile units 100a-z / 100b and receive aggregated position information of the formations 1200a / 1200b. An aggregate signature is attached to the aggregated position information. The position group transferring unit 1401 transfers the aggregated position information received by the position group receiving unit 2301 to the control server 120a / 120b.

[0192] The signature verification unit 2302 verifies the aggregate signature attached to the aggregated location information received by the location group receiver 2301. The verification key group, public parameters, and group test matrix used for the original signature may be used to verify the aggregate signature. Therefore, these are obtained and stored in advance from a trusted authority on the public network. For each of the multiple aggregate signatures that make up the aggregate signature, the signature verification unit 2302 extracts a combination of location information ma-1, ma-2, . . . , ma-n, and ma-z according to the group test matrix. The aggregate signature and the corresponding message ma group, the corresponding verification key group, and the public parameters are input, and an output of {accept, reject} is obtained using the aggregate signature verification algorithm. From the combination of {accept, reject} results for these aggregate signatures, the group verification algorithm individually identifies fraudulent messages.

[0193] If the verification of the aggregate signature is successful, the destination determination unit 2304 determines the destination of the aggregated location information (to which leader mobile unit 100-z to send it). For example, the destination determination unit 2304 identifies the flight airspace of the formation 1200 based on the position of the formation 1200 (e.g., individual location information of the leader mobile unit 100-z), and determines the leader mobile unit 100-z of another formation 1200 flying in the identified flight airspace as the destination.

[0194] The signature assigning unit 2305 assigns the digital signature of the base station server 110 to the aggregated location information. The location group transmitting unit 2306 transmits the digital signature of the base station server 110 and the aggregated location information to the leader mobile unit 100-z determined by the destination determining unit 2304.

[0195] (4) Signal Sequence FIG. 23 is a sequence diagram of signals involved in a series of processes from collecting location information to distributing commands in embodiment C. Here, it is assumed that both the digital signature verification and the aggregate signature verification are successful. Prior to Sq31, the leader mobile unit 100a-z generates a challenge for peer authentication and broadcasts it to the member mobile units 100a-1 to 100a-n of the formation 1200a. Similarly, the leader mobile unit 100b-z generates a challenge for peer authentication and broadcasts it to the member mobile units 100b-1 to 100b-n of the formation 1200b.

[0196] In Sq31, the member mobile bodies 100a-1 to 100a-n of the formation 1200a each transmit individual location information with a digital signature to the leader mobile body 100a-z. Here, the individual location information is a message including the member mobile body 100a's individual identification information (ID), location information (location) indicating its flight position, member transmission time information (time), and a challenge (broadcast challenge). The digital signature is generated by applying the private key of each member mobile body 100a to the message (individual location information). The leader mobile body 100a-z has a public key that pairs with the private key of each member mobile body 100a. The member transmission time information included in the individual location information indicates the time obtained when the individual location information (message) was transmitted. The leader mobile body 100a-z receives the signed individual location information from each of the member mobile bodies 100a-1 to 100a-n.

[0197] The leader mobile body 100a-z verifies the received digital signature of the member mobile body 100a using the public key linked to the identification information of the member mobile body 100a. If the signature verification is successful, the leader mobile body 100a-z performs peer authentication by comparing the challenge it holds with the received challenge. The leader mobile body 100a-z may also determine the freshness of the data by comparing the member transmission time information with the current time. The leader mobile body 100a-z may discard individual location information that fails peer authentication or data freshness determination. In other words, such individual location information is excluded from the aggregation targets.

[0198] In Sq32, the leader mobile unit 100a-z aggregates the received individual location information of the member mobile units 100a-1 to 100a-n and its own individual location information to create aggregated location information, generates an aggregate signature from the signatures of the member mobile units 100a-1 to 100a-n and its own signature, attaches it to the aggregated location information, and transmits it to the base station server 110. The base station server 110 receives the aggregated location information with the aggregate signature from the leader mobile unit 100a-z.

[0199] In Sq33 (optional), the base station server 110 transfers the aggregated location information with the aggregate signature received from the leader mobile units 100a-z to the control server 120a. The control server 120a receives the aggregated location information with the aggregate signature for the formation 1200a from the base station server 110. If the control server 120a successfully verifies the aggregate signature, it breaks down the aggregated location information to extract multiple individual location information and registers the individual location information in the location management database.

[0200] In Sq34, the base station server 110 adds its digital signature to the aggregated location information of the formation 1200a and transmits it to the leader mobile unit 100b-z of the formation 1200b. The leader mobile unit 100b-z receives the aggregated location information of the formation 1200a from the base station server 110 and stores it in memory 301.

[0201] In Sq35, the member mobile bodies 100b-1 to 100b-m of the formation 1200b each transmit individual position information with a digital signature to the leader mobile body 100b-z. Here, the individual position information is a message including the member mobile body 100b's individual identification information (ID), position information (position) indicating its flight position, member transmission time information (time), and a challenge (broadcast challenge). The digital signature is generated by applying the private key of each member mobile body 100b to the message (individual position information). The leader mobile body 100b-z has a public key that pairs with the private key of each member mobile body 100b. The member transmission time information included in the individual position information indicates the time obtained when the individual position information (message) was transmitted. The leader mobile body 100b-z receives the signed individual position information from each of the member mobile bodies 100b-1 to 100b-m and stores it in memory 301.

[0202] The leader mobile body 100b-z verifies the received digital signature of the member mobile body 100b using the public key linked to the identification information of the member mobile body 100b. If the signature verification is successful, the leader mobile body 100b-z performs peer authentication by comparing the challenge it holds with the received challenge. The leader mobile body 100b-z may also determine the freshness of the data by comparing the member transmission time information with the current time. The leader mobile body 100b-z may discard individual location information that fails peer authentication or the determination of data freshness. In other words, such individual location information is excluded from the aggregation targets.

[0203] In Sq36, the leader mobile unit 100b-z extracts the individual position information of the member mobile units 100a-1 to 100b-n from the aggregated position information of the formation 1200a, reads the individual position information of the member mobile units 100b-1 to 100b-m from memory 301, generates individual commands for each of the member mobile units 100b-1 to 100b-m, and transmits the individual commands to the corresponding member mobile units 100b-1 to 100b-m. The member mobile units 100b-1 to 100b-m each receive the command addressed to them and execute the command.

[0204] Here, the individual command may be a message including the member mobile body 100b's identification information (ID), individual control information, commander transmission time information (time), and a response. The individual command is also digitally signed by the commander mobile body 100b-z. The commander transmission time information indicates the time when the commander mobile body 100b-z transmits the individual command. The response is generated for each member mobile body 100b using the broadcasted challenge, the member transmission time information for each member mobile body 100b, and a common key for each member mobile body 100b. The member mobile body 100b identifies the individual command addressed to itself based on the identification information included in the individual command. Furthermore, the member mobile body 100b generates a comparison response from the broadcasted challenge, the member transmission time information for each member mobile body 100b, and the common key for each member mobile body 100b, and performs peer authentication by comparing the received response with the comparison response. If the authentication of the other party is successful, the member mobile body 100b verifies the digital signature attached to the individual command using the public key of the leader mobile body 100b-z. Note that the digital signature verification may be performed before the other party authentication. Alternatively, the other party authentication and the digital signature verification may be performed in parallel. If the signature verification is successful, the leader transmission time information is compared with the current time to determine whether the data freshness meets the pass criteria. If the data freshness meets the pass criteria, the member mobile body 100b executes the individual control information.

[0205] In Sq37, the leader mobile body 100b-z aggregates the received individual location information of the member mobile bodies 100b-1 to 100b-m and its own individual location information to create aggregated location information, generates an aggregate signature from the signatures of the member mobile bodies 100b-1 to 100b-m and its own signature, attaches it to the aggregated location information, and transmits it to the base station server 110. The base station server 110 receives the aggregated location information with the aggregate signature from the leader mobile body 100b-z.

[0206] In Sq38 (optional), the base station server 110 transfers the aggregated location information with the aggregate signature received from the leader mobile unit 100b-z to the control server 120b. The control server 120b receives the aggregated location information with the aggregate signature for the formation 1200b from the base station server 110. If the control server 120b successfully verifies the aggregate signature, it breaks down the aggregated location information to extract multiple individual location information and registers the individual location information in the location management database.

[0207] In Sq39, the base station server 110 adds its digital signature to the aggregated location information of the formation 1200b and transmits it to the leader mobile units 100a-z of the formation 1200a. The leader mobile units 100a-z receive the aggregated location information of the formation 1200b from the base station server 110 and store it in memory 301.

[0208] In Sq40, the leader mobile unit 100a-z extracts the individual position information of the member mobile units 100b-1 to 100b-m from the aggregated position information of the formation 1200b, reads the individual position information of the member mobile units 100a-1 to 100a-n from memory 301, generates individual commands for each of the member mobile units 100a-1 to 100a-n, and transmits the individual commands to the corresponding member mobile units 100a-1 to 100a-n. The member mobile units 100a-1 to 100a-n each receive the command addressed to them and execute the command.

[0209] Here, the individual command may be a message including the member mobile body 100a's identification information, individual control information, commander transmission time information, and a response. The individual command is also digitally signed by the commander mobile body 100a-z. The commander transmission time information indicates the time when the commander mobile body 100a-z transmits the individual command. The response is generated for each member mobile body 100a using the broadcasted challenge, the member transmission time information for each member mobile body 100a, and a common key for each member mobile body 100a. The member mobile body 100a identifies the individual command addressed to itself based on the identification information included in the individual command. Furthermore, the member mobile body 100a generates a comparison response from the broadcasted challenge, the member transmission time information for each member mobile body 100a, and the common key for each member mobile body 100a, and performs peer authentication by comparing the received response with the comparison response. If the authentication of the other party is successful, the member mobile body 100a verifies the digital signature attached to the individual command using the public key of the leader mobile body 100a-z. Note that the digital signature verification may be performed before the other party authentication. Alternatively, the other party authentication and the digital signature verification may be performed in parallel. If the signature verification is successful, the leader transmission time information is compared with the current time to determine whether the data freshness meets the pass criteria. If the data freshness meets the pass criteria, the member mobile body 100a executes the individual control information.

[0210] (5) Flowchart of the leader's mobile unit (5-1) Location information aggregation and transfer processing 24 shows the location information aggregation and transfer process executed by the CPU 300 of the leader mobile unit 100a-z in accordance with a control program. The CPU 300 of the leader mobile unit 100b-z also executes similar processes. Before S2401, the CPU 300 generates a challenge and broadcasts it to the member mobile units 100a-1 to 100a-n.

[0211] In S2401, the CPU 300 (position receiving unit 411) determines whether or not individual position information (with the digital signature of the member mobile object) has been received from each of the member mobile objects 100a-1 to 100a-n. If individual position information has been received, the CPU 300 proceeds from S2401 to S2402.

[0212] In S2402, the CPU 300 (signature verification unit 2202) verifies the digital signature of the member mobile object 100 that is attached to the received individual location information. Here, the above-described authentication of the other party by the other party authentication unit 2206 and determination of data freshness may also be performed as part of the verification.

[0213] In S2403, the CPU 300 (signature verification unit 2202) determines whether the verification of the digital signature was successful. If the verification was successful, the CPU 300 proceeds from S2403 to S2404. If the verification was unsuccessful, the CPU 300 skips S2404 to S2407.

[0214] In S2404, the CPU 300 (position acquisition unit 311) acquires the position information of the own device (the leader mobile device 100a-z) from the positioning circuit 305. Furthermore, the CPU 300 generates individual position information as a message from the own device's ID, position information, transmission time, and the broadcasted challenge.

[0215] In S2405, CPU 300 (aggregation unit 412) aggregates the individual position information of each of member moving bodies 100a-1 to 100a-n and the individual position information of its own vehicle to generate aggregated position information of formation 1200a.

[0216] In S2406, the CPU 300 (signature assignment unit 2200) assigns a digital signature to the aggregated location information of the formation 1200a. The digital signature may be the digital signature of the leader mobile object 100a-z, or it may be an aggregate signature. In the latter case, the signature assignment unit 2200 generates an aggregate signature from the digital signatures of each of the member mobile objects 100a-1 to 100a-n and its own digital signature, and assigns the aggregate signature to the aggregated location information.

[0217] In S2407, the CPU 300 (location group transmission unit 414) controls the wireless communication circuit 304 to transmit the aggregated location information (with aggregate signature) to the base station server 110.

[0218] (5-2) Creation and distribution of individual commands 25 shows the process of generating and distributing individual commands that the CPU 300 of the leader mobile unit 100a-z executes in accordance with the control program. The CPU 300 of the leader mobile unit 100b-z also executes similar processes.

[0219] In S2501, the CPU 300 (position group receiving unit 2201) controls the wireless communication circuit 304 to determine whether aggregated position information of another formation 1200b has been received from the base station server 110. If aggregated position information of another formation 1200b has been received, the CPU 300 proceeds from S2501 to S2502.

[0220] In S2502, the CPU 300 (signature verification unit 2202) verifies the digital signature of the base station server 110 that is attached to the aggregated location information of the other formation 1200b received from the base station server 110.

[0221] In S2503, the CPU 300 (signature verification unit 2202) determines whether the verification of the digital signature of the base station server 110 has been successful. If the verification is successful, the CPU 300 proceeds from S2503 to S2504. If the verification is unsuccessful, the aggregated location information may have been tampered with or the identity of the user may have been lost, so the CPU 300 skips S2504 to S2507.

[0222] In S2504, the CPU 300 (command generation unit 2204) generates individual commands for the mobile unit 100 (the mobile unit itself and member mobile units 100a-1 to 100a-n) belonging to the formation 1200a based on the individual position information of the mobile units 100 belonging to the formation 1200a and the individual position information of the mobile units 100 (member mobile units 100b-1 to 100b-m, leader mobile unit 1000b-z) belonging to another formation 1200b. The individual commands are messages that include the individual identification information (ID) of each of the member mobile units 100a-1 to 100a-n, control information, leader transmission time information (time), and a response. The method of generating the response has already been described.

[0223] In S2505, the CPU 300 (signature assigning unit 2200) assigns the digital signature of the leader mobile unit 100a-z to the individual command.

[0224] In S2506, the CPU 300 (command transmission unit 2205) controls the wireless communication circuit 304 to transmit individual commands to each of the member mobile objects 100a-1 to 100a-n.

[0225] In S2507, the CPU 300 (movement control unit 323) executes an individual command for the own vehicle (the leader vehicle 100a-z).

[0226] (6) Base station server flowchart FIG. 26 shows a location information transfer process executed by the CPU 400 of the base station server 110 in accordance with a control program.

[0227] In S2601, the CPU 400 (position group receiving unit 2301) controls the wireless communication circuit 404 to determine whether aggregated position information has been received from the leader mobile body 100a-z (or the leader mobile body 100b-z). If the aggregated position information has been received, the CPU 400 proceeds from S2601 to S2602.

[0228] In S2602, the CPU 400 (signature verification unit 2302) verifies the digital signature (aggregate signature) attached to the aggregated location information.

[0229] In S2603, the CPU 400 (signature verification unit 2302) determines whether or not the verification of the aggregate signature has been successful. If the verification has been successful, the CPU 400 proceeds from S2603 to S2604.

[0230] In S2604 (optional), the CPU 400 (position group transfer unit 1401) controls the wired communication circuit 407 to transfer the aggregated location information received from the leader mobile body 100a-z (or leader mobile body 100b-z) to the control server 120a (or control server 120b). The base station server 110 may have an address table that manages the identification information of the control server 120a associated with the leader mobile body 100a-z and the identification information of the control server 120b associated with the leader mobile body 100b-z. In this case, the position group transfer unit 1401 may refer to the address table to identify the address of the control server 120 to which the aggregated location information is to be transferred.

[0231] In S2605, the CPU 400 (destination determination unit 2304) determines the destination (leader mobile 100a-z / 100b-z) of the aggregated location information. The CPU 400 may store in the memory 401 a leader mobile table that holds the identification information of the leader mobiles 100a-z and 100b-z flying in the controlled airspace of the base station server 110. The CPU 400 may maintain the leader mobile table at regular intervals. For example, the CPU 400 measures the elapsed time from the time when aggregated location information was received from a leader mobile registered in the leader mobile table, and if the next aggregated location information is not received before the elapsed time reaches a predetermined timeout time, the CPU 400 deletes the entry of that leader mobile from the leader mobile table. This ensures that only leader mobiles and formations flying in controlled airspace remain registered in the leader mobile table, making it possible to keep the leader mobile table up to date. When the aggregated location information is received from the leader mobile body 100a-z, the destination determination unit 2304 identifies the identification information of the leader mobile body 100b-z other than the leader mobile body 100a-z registered in the leader mobile body table. This determines the transmission destination (transfer destination) of the aggregated location information.

[0232] In S2606, the CPU 400 (signature adding unit 2305) adds the digital signature of the base station server 110 to the aggregated location information.

[0233] In S2607, the CPU 400 (position group transmission unit 2306) controls the wireless communication circuit 404 to transmit the signed aggregated location information to the destination determined by the destination determination unit 2304. For example, assume that the leader mobile body 100a-z and the leader mobile body 100b-z are flying in controlled airspace. In this case, the aggregated location information received from the leader mobile body 100a-z is transmitted to the leader mobile body 100b-z. The aggregated location information received from the leader mobile body 100b-z is transmitted to the leader mobile body 100a-z.

[0234] (7) Flowchart of member movement 17 shows a control method executed by the CPU 300 of the member mobile body 100 in accordance with a control program. In FIG. 17, S703 described in FIG. 7 is replaced with S2703, and S706 is replaced with S2706. Therefore, S2703 and S2706 will be described below. Also, it is assumed that the CPU 300 receives a challenge from the leader mobile body 100-z in advance and stores it in the memory 301.

[0235] In S2703, the CPU 300 (signature assignment unit 2101) assigns the digital signature of the own device to the individual location information of the own device, which is the member mobile body 100. The individual location information includes the own device's individual identification information (ID), location information (location) indicating the flight location, member transmission time information (time), and a challenge.

[0236] In S704, the CPU 300 (position transmitting unit 313) transmits the individual position information with the digital signature of the own mobile unit to the leader mobile unit 100a-z / 100b-z.

[0237] In S2706, the CPU 300 (signature verification unit 2102) verifies the digital signature of the leader mobile unit 100a-z / 100b-z attached to the individual command received from the leader mobile unit 100a-z / 100b-z. The digital signature verification is performed using the individual command (message) and the public key of the leader mobile unit 100-z. As described above, the CPU 300 (partner authentication unit 2103) may perform peer authentication as part of the verification. That is, the CPU 300 (partner authentication unit 2103) generates a response for comparison using the broadcasted challenge, its own member transmission time information, and its own common key, and performs peer authentication by comparing it with the response included in the individual command. Furthermore, the CPU 300 (partner authentication unit 2103) may determine, as part of the verification, whether the freshness of the data meets the pass criteria based on the leader transmission time information included in the individual command.

[0238] In S707, the CPU 300 (signature verification unit 2102) determines whether the verification of the digital signature of the leader mobile unit 100a-z / 100b-z was successful. The determination of the success of the verification may further include whether the authentication of the other party and the determination of the data freshness were successful. In other words, the success of all three determinations may be set as a condition for allowing the execution of the control information (command).

[0239] Although a digital signature is used in Example C, the method of assigning and verifying the digital signature is arbitrary. For example, the commander mobile unit, the member mobile units, and the base station server may assign and verify the digital signature using a pair of a public key and a private key.

[0240] <Technical ideas derived from examples> [Perspective A1] Mobile bodies 100a-1 to 100a-n, 100a-z, etc. are examples of multiple first mobile bodies belonging to a first affiliation. Mobile bodies 100b-1 to 100b-m, 100b-z, etc. are examples of multiple second mobile bodies belonging to a second affiliation. Base station server 110 is an example of ground equipment (which may also be called a ground station, ground-side communication device, wireless relay station, relay server, server device, control system, communication system, or relay system) that wirelessly communicates with at least one first mobile body among the multiple first mobile bodies and at least one second mobile body among the multiple second mobile bodies. Control server 120a is an example of a first control server for a first organization that collects, via ground facilities, first position information (e.g., aggregated position information) indicating the flight positions of multiple first moving objects and second position information (e.g., aggregated position information) indicating the flight positions of multiple second moving objects, generates first control information (e.g., commands, command groups) for controlling the flight of the multiple first moving objects based on the first position information and the second position information, and transmits the first control information (e.g., commands, command groups) to the multiple first moving objects via ground facilities. Control server 120b is an example of a second control server for a second organization that collects, via ground facilities, first position information indicating the flight positions of multiple first moving objects and second position information indicating the flight positions of multiple second moving objects, generates second control information for controlling the flight of the multiple second moving objects based on the first position information and the second position information, and transmits the second control information to the multiple second moving objects via ground facilities. As described in Example A, the ground equipment is configured to aggregate individual position information indicating the flight positions of each of a plurality of first moving bodies to generate first position information, and to aggregate individual position information indicating the flight positions of each of a plurality of second moving bodies to generate second position information. In this way, the individual position information of a large number of moving bodies is aggregated and transmitted, thereby providing a navigation assistance system that efficiently transmits the position information of moving bodies.

[0241] [Perspective A2] The first control server may be configured to verify the first location information based on first authentication information (e.g., aggregate authenticator) assigned to the first location information, generate a first verification result, and transmit the first verification result to the ground equipment. The ground equipment may be configured to transmit the first location information to the second control server when the first verification result indicates success (e.g., True). The first location information may be transferred from the first control server to the ground equipment together with the verification result. The second control server may be configured to verify the second location information based on second authentication information (e.g., aggregate authenticator) assigned to the second location information, generate a second verification result, and transmit the second verification result to the ground equipment. The ground equipment is configured to transmit the second location information to the first control server when the second verification result indicates success. In this way, verifying the aggregated location information using authentication information enables more secure exchange of location information between different companies.

[0242] [Perspective A3] The ground equipment may generate first authentication information for the first position information from an authenticator (e.g., a message authenticator) assigned to each of a plurality of individual position information indicating the flight positions of the plurality of first moving bodies. The ground equipment may generate second authentication information for the second position information from an authenticator (e.g., a message authenticator) assigned to each of a plurality of individual position information indicating the flight positions of the plurality of second moving bodies. This makes it possible to reduce the data amount of the authentication information while ensuring the verifiability of the individual position information. Therefore, it becomes possible to transmit the position information of the moving bodies more efficiently.

[0243] [Perspective A4] The first control server may generate individual control information (e.g., commands) for each of the multiple first moving bodies based on the first position information and the second position information, assign an individual authenticator (e.g., message authenticator) to each of the generated individual control information, and aggregate the individual control information assigned the individual authenticator to generate first control information (e.g., a group of commands). The ground equipment may be configured to extract the individual control information assigned the individual authenticator for each of the multiple first moving bodies from the first control information and transmit it to each of the multiple first moving bodies. Each of the multiple first moving bodies receives the individual control information assigned the individual authenticator from the ground equipment, verifies the individual control information based on the individual authenticator, and, if the verification based on the individual authenticator is successful, controls the flight state of the first moving body using the individual control information. This makes it possible to prevent tampering with the individual control information, thereby enabling safer assistance to the operation of the moving bodies.

[0244] [Perspective A5] The second control server may generate individual control information (e.g., commands) for each of the multiple second moving bodies based on the first position information and the second position information, assign an individual authenticator (e.g., message authenticator) to each of the generated individual control information, and aggregate the individual control information with the individual authenticator to generate second control information. The ground equipment may be configured to extract the individual control information with the individual authenticator for each of the multiple second moving bodies from the second control information and transmit it to each of the multiple second moving bodies. Each of the multiple second moving bodies receives the individual control information with the individual authenticator assigned to it from the ground equipment, verifies the individual control information based on the individual authenticator, and if the verification based on the individual authenticator is successful, controls the flight state of its own body using the individual control information. This makes it possible to prevent tampering with the individual control information, thereby enabling safer assistance to the operation of the moving bodies.

[0245] [Perspective A6] The first location information transmitted from the ground equipment to the first control server may be digitally signed by the ground equipment. The first verification result transmitted from the first control server to the ground equipment may be digitally signed by the first control server. The second location information transmitted from the ground equipment to the second control server may be digitally signed by the ground equipment. The second verification result transmitted from the second control server to the ground equipment may be digitally signed by the second control server. This makes it possible to prevent tampering or spoofing of information between the ground equipment and the control server.

[0246] [Perspective A7] The mobile units 100a-1 to 100a-n, 100a-z, etc. are examples of multiple first mobile units belonging to a first organization. The mobile units 100b-1 to 100b-m, 100b-z, etc. are examples of multiple second mobile units belonging to a second organization. The base station server 110 is an example of ground equipment that wirelessly communicates with at least one of the multiple first mobile units and at least one of the multiple second mobile units. The control server 120a is an example of a first control server for the first organization that collects, via the ground equipment, first position information indicating the flight positions of the multiple first mobile units and second position information indicating the flight positions of the multiple second mobile units, generates first control information for controlling the flight of the multiple first mobile units based on the first position information and the second position information, and transmits the first control information to the multiple first mobile units via the ground equipment. Control server 120b is an example of a second control server for a second affiliation that collects first position information indicating the flight positions of multiple first moving bodies and second position information indicating the flight positions of multiple second moving bodies through ground equipment, generates second control information for controlling the flight of the multiple second moving bodies based on the first position information and the second position information, and transmits the second control information to the multiple second moving bodies via ground equipment. The leader moving bodies 100a-z may operate as one of the multiple first moving bodies as a first leader moving body. The first leader moving body may aggregate individual position information indicating the flight positions of each of the multiple first moving bodies to generate first position information (e.g., aggregated position information) and transmit it to ground equipment. The ground equipment transmits the first position information to the first control server. This enables efficient transmission of the moving body position information.

[0247] [Perspective A8] The leader mobile body 100b-z may operate as one of the multiple second mobile bodies as a second leader mobile body. The second leader mobile body may aggregate individual position information indicating the flight positions of each of the multiple second mobile bodies to generate second position information (e.g., aggregated position information) and transmit it to ground equipment. The ground equipment transmits the second position information to a second control server. This enables efficient transmission of the mobile body's position information.

[0248] [Point of View A9] The first control server may be configured to verify the first location information based on first authentication information (e.g., aggregate authenticator) assigned to the first location information, generate a first verification result, and transmit the first verification result to the ground equipment. The ground equipment may be configured to transmit the first location information to the second control server if the first verification result indicates success. The second control server may verify the second location information based on second authentication information (e.g., aggregate authenticator) assigned to the second location information, generate a second verification result, and transmit the second verification result to the ground equipment. The ground equipment may transmit the second location information to the first control server if the second verification result indicates success. This makes it possible to prevent tampering with the location information, etc.

[0249] [Perspective A10] The first commander mobile body may generate first authentication information for the first position information from an authenticator (e.g., a message authenticator) assigned to each of a plurality of individual position information indicating the flight positions of the plurality of first mobile bodies. The second commander mobile body may generate second authentication information for the second position information from an authenticator (e.g., a message authenticator) assigned to each of a plurality of individual position information indicating the flight positions of the plurality of second mobile bodies. In this way, by aggregating the authentication information, it is possible to efficiently transmit the authentication information while preventing tampering with the position information.

[0250] [Point of View A11] The first control server may generate individual control information (e.g., commands) for each of the multiple first moving bodies based on the first position information and the second position information, assign an individual authenticator (e.g., message authenticator) to each of the generated individual control information, and aggregate the individual control information with the individual authenticators to generate first control information. The ground equipment transfers the first control information to the first commander moving body. The first commander moving body extracts the individual control information with the individual authenticator for each of the multiple first moving bodies from the first control information and transmits the individual control information to each of the multiple first moving bodies excluding the first commander moving body. Each of the multiple first moving bodies acquires the individual control information with the individual authenticator assigned, verifies the individual control information based on the individual authenticator, and if the verification based on the individual authenticator is successful, controls the flight state of the own body using the individual control information. This makes it possible to prevent tampering with the individual control information, making it possible to more safely assist the operation of the moving bodies. [Point of View A12] The second control server may generate individual control information for each of the multiple second moving bodies based on the first position information and the second position information, assign an individual authenticator (e.g., a message authenticator) to each of the generated individual control information, and aggregate the individual control information with the individual authenticators to generate second control information. The ground equipment transfers the second control information to the second leader moving body. The second leader moving body extracts the individual control information with the individual authenticator for each of the multiple first moving bodies from the second control information and transmits the individual control information to each of the multiple second moving bodies excluding the second leader moving body. Each of the multiple second moving bodies acquires the individual control information with the individual authenticator assigned to it, verifies the individual control information based on the individual authenticator, and if the verification based on the individual authenticator is successful, controls the flight state of its own body using the individual control information. This makes it possible to prevent tampering with the individual control information, making it possible to more safely assist the operation of the moving bodies.

[0251] [Point of View A13] The base station server 110 functions as a ground facility in a navigation assistance system having a plurality of first mobile objects belonging to a first organization, a plurality of second mobile objects belonging to a second organization, ground facilities, a first control server, and a second control server. The first control server is a server for the first organization that collects, via the ground facilities, first position information indicating the flight positions of the plurality of first mobile objects and second position information indicating the flight positions of the plurality of second mobile objects, generates first control information for controlling the flight of the plurality of first mobile objects based on the first position information and the second position information, and transmits the first control information to the plurality of first mobile objects via the ground facilities. The second control server is a control server for the second organization that collects, via the ground facilities, first position information indicating the flight positions of the plurality of first mobile objects and second position information indicating the flight positions of the plurality of second mobile objects, generates second control information for controlling the flight of the plurality of second mobile objects based on the first position information and the second position information, and transmits the second control information to the plurality of second mobile objects via the ground facilities. The ground equipment (e.g., base station server 110) includes first communication means (e.g., wireless communication circuit 404) for wirelessly communicating with at least one first mobile body among the plurality of first mobile bodies and at least one second mobile body among the plurality of second mobile bodies, aggregation means (e.g., CPU 400) for aggregating individual position information indicating the flight positions of the plurality of first mobile bodies to generate first position information and for aggregating individual position information indicating the flight positions of the plurality of second mobile bodies to generate second position information, and second communication means (e.g., wired communication circuit 407) for transmitting the first position information to the first control server and transmitting the second position information to the second control server. This will enable the ground equipment to contribute to efficient transmission of position information in the navigation assistance system.

[0252] [Point of View A14] The leader mobile bodies 100a-z, 100b-z function as "mobiles that operate as a first leader mobile body among a plurality of first mobile bodies in a navigation assistance system having a plurality of first mobile bodies belonging to a first affiliation, a plurality of second mobile bodies belonging to a second affiliation, ground equipment that wirelessly communicates with at least one first mobile body among the plurality of first mobile bodies and at least one second mobile body among the plurality of second mobile bodies, a first control server for the first affiliation that collects, through the ground equipment, first position information indicating the flight positions of the plurality of first mobile bodies and second position information indicating the flight positions of the plurality of second mobile bodies, generates first control information for controlling the flight of the plurality of first mobile bodies based on the first position information and the second position information, and transmits the first control information to the plurality of first mobile bodies via the ground equipment," and a second control server for a second affiliation that collects, through the ground equipment, first position information indicating the flight positions of the plurality of first mobile bodies and second position information indicating the flight positions of the plurality of second mobile bodies, generates second control information for controlling the flight of the plurality of second mobile bodies based on the first position information and the second position information, and transmits the second control information to the plurality of second mobile bodies via the ground equipment." The first leader mobile body (e.g., leader mobile bodies 100a-z, 100b-z) has an acquisition means (e.g., wireless communication circuit 304, positioning circuit 305, position acquisition unit 311) for acquiring individual position information indicating the flight position of each of the multiple first mobile bodies, an aggregation means (e.g., CPU 300, aggregation unit 412) for aggregating the individual position information of each of the multiple first mobile bodies to generate first position information, and a transmission means (e.g., wireless communication circuit 304) for transmitting the first position information to ground equipment. This will enable the leader mobile body to contribute to efficient transmission of position information in the navigation assistance system.

[0253] [Point of View A15] A step in which each of a plurality of first mobile objects belonging to a first destination creates location information with a message authentication code and transmits the location information to a relay device (e.g., base station server 110); a step of receiving location information with a message authentication code from each of the plurality of first mobile objects belonging to the first destination by the relay device; generating a first aggregate authenticator based on the message authenticators of each of the first mobile entities; a step of the relay device aggregating location information of each of the plurality of first moving objects and generating first location information to which the first aggregate authenticator is assigned; a step of transmitting, by the relay device, the first location information to which the first aggregate authenticator has been assigned, to a first control server belonging to the first destination; the first control server receiving the first location information with the first aggregate authenticator attached; the first control server verifying the first location information based on the first aggregate authenticator and generating a verification result; the first control server transmitting the verification result along with the first location information to the relay device; receiving, by the relay device, the verification result along with the first location information from the first control server; If the verification result indicates success, the relay device transmits the first location information to a second control server belonging to a second destination; a step in which each of a plurality of second mobile objects belonging to the second destination creates location information with a message authentication code and transmits the location information to the relay device; a step of receiving location information with a message authentication code from each of the plurality of second mobile entities belonging to the second destination by the relay device; generating a second aggregate authenticator based on the message authenticators of the plurality of second mobile devices; a step of the relay device aggregating location information of each of the plurality of second moving objects and generating second location information to which the second aggregate authenticator is added; the relay device transmitting the second location information to which the second aggregate authenticator is attached to the second control server; the second control server receiving the second location information with the second aggregate authenticator attached; the second control server verifying the second location information based on the second aggregate authenticator and generating a verification result; the second control server transmitting the verification result together with the second location information to the relay device; receiving, by the relay device, the verification result along with the second location information from the second control server; If the verification result indicates success, the relay device transmits the second location information to the first control server; a step in which the first control server generates a command for controlling a flight state of each of the plurality of first moving bodies based on the first position information and the second position information, assigns a corresponding message authentication code to the command, and transmits the command with the assigned message authentication code to the relay device; a step of the relay device transmitting the command to which the message authentication code is attached to each of the plurality of first mobile entities; each of the plurality of first mobile entities receiving the command with the message authentication code attached; each of the plurality of first mobile entities verifying the command based on the message authentication code and, if the verification is successful, executing the command; the second control server generating a command for controlling a flight state of each of the plurality of second moving bodies based on the second position information and the second position information, assigning a corresponding message authenticator to the command, and transmitting the command with the message authenticator assigned to the relay device; a step of the relay device transmitting the command to which the message authentication code is attached to each of the plurality of second mobile units; receiving the command with the message authentication code attached by each of the plurality of second mobile devices; each of the plurality of second mobile entities verifying the command based on the message authentication code and, if the verification is successful, executing the command; A driving assistance method having the following.

[0254] [Point of View A16] A step in which each of a plurality of first mobile units belonging to a first destination creates location information with a message authentication code and transmits the location information to a first relay device (e.g., a leader mobile unit 100a-z); a step of receiving location information with a message authentication code from each of the first mobile objects belonging to the first destination by the first relay device; the first relay generating a first aggregate authenticator based on the message authenticators of each of the first mobile entities; a step of the first relay aggregating location information of each of the plurality of first mobile objects and generating first location information to which the first aggregate authenticator is added; the first relay device transmitting the first location information to which the first aggregate authenticator is added to a second relay device (e.g., base station server 110); a step of transmitting, by the second relay device, the first location information to which the first aggregate authenticator has been assigned, to a first control server belonging to the first destination; the first control server receiving the first location information with the first aggregate authenticator attached; the first control server verifying the first location information based on the first aggregate authenticator and generating a verification result; the first control server transmitting the verification result together with the first location information to the second relay; receiving, by the second relay device, the verification result along with the first location information from the first control server; If the verification result indicates success, the second relay device transmits the first location information to a second control server belonging to a second destination; a step in which each of the second mobile units belonging to the second destination creates location information with a message authentication code and transmits the location information to a third relay device (e.g., a leader mobile unit 100b-z); a step of receiving, by the third relay device, location information with a message authentication code for each of the plurality of second mobile objects belonging to the second destination; generating a second aggregate authenticator based on the message authenticators of the second mobile devices; a step of the third relay aggregating location information of each of the plurality of second mobile objects and generating second location information to which the second aggregate authenticator is added; the third relay device transmitting the second location information to which the second aggregate authenticator is added to the second relay device; the second relay device transmitting the second location information to which the second aggregate authenticator is added to the second control server; the second control server receiving the second location information with the second aggregate authenticator attached; the second control server verifying the second location information based on the second aggregate authenticator and generating a verification result; the second control server transmitting the verification result together with the second location information to the second relay; receiving, by the second relay device, the verification result along with the second location information from the second control server; If the verification result indicates success, the second relay device transmits the second location information to the first control server; a step in which the first control server generates a command for controlling a flight state of each of the plurality of first moving bodies based on the first position information and the second position information, assigns a corresponding message authenticator to the command, and transmits the command with the assigned message authenticator to the second relay; a step of transmitting the command to which the message authentication code is added, to each of the first mobile units corresponding to the second relay device via the first relay device; each of the plurality of first mobile objects receiving the command with the message authentication code attached thereto from the first relay device; each of the plurality of first mobile entities verifying the command based on the message authentication code and, if the verification is successful, executing the command; the second control server generating a command for controlling a flight state of each of the plurality of second moving bodies based on the second position information and the second position information, attaching a corresponding message authenticator to the command, and transmitting the command with the attached message authenticator to the second relay; a step of transmitting the command to which the message authentication code is added, to each of the plurality of second mobile hosts by the second relay device via the third relay device; receiving the command to which the message authentication code is attached, via the third relay device, by each of the second mobile objects; each of the plurality of second mobile entities verifying the command based on the message authentication code and, if the verification is successful, executing the command; A driving assistance method having the following.

[0255] [Perspective B1] The moving bodies 100a-1 to 100a-z are an example of a plurality of first moving bodies flying in a first flight formation. The moving bodies 100b-1 to 100b-z are an example of a plurality of second moving bodies flying in a second flight formation. The base station server 110 is an example of ground equipment that wirelessly communicates with a first leader moving body (leader moving body 100a-z) that acts as a leader aircraft in the first flight formation among the plurality of first moving bodies, and a second leader moving body (leader moving body 100b-z) that acts as a leader aircraft in the second flight formation among the plurality of second moving bodies. As illustrated in FIG. 23, the first leader moving body aggregates individual position information indicating the flight positions of the plurality of first moving bodies in the first flight formation to generate first position information, and assigns a first digital signature (e.g., an aggregate signature or a digital signature of the leader moving body 100a-z) to the first position information and transmits it to the ground equipment. The ground equipment receives the first location information to which the first digital signature has been added by the first leader mobile unit. If verification of the first digital signature is successful, the ground equipment adds a second digital signature (e.g., the digital signature of the base station server 110) to the first location information and transmits it to the second leader mobile unit. The second leader mobile unit receives the first location information to which the second digital signature has been added from the ground equipment. If verification of the second digital signature is successful, the ground equipment generates individual second control information (e.g., individual commands) to control the flight of each of the multiple second mobile units based on the first location information and second location information indicating the flight positions of the multiple second mobile units, and transmits the individual second control information to each of the multiple second mobile units. Note that individual commands from the leader mobile unit 100b-z do not need to be transmitted. Each of the multiple second mobile units flies based on the individual second control information received from the second leader mobile unit. In this way, the individual location information of a large number of mobile units is aggregated and transmitted, providing a navigation assistance system that efficiently transmits the location information of mobile units. Furthermore, since the first location information is digitally signed, tampering with the first location information is suppressed and identity verification is facilitated.

[0256] [Perspective B2] As illustrated in FIG. 23 and other figures, the second leader mobile unit aggregates the individual position information indicating the flight positions of each of the multiple second mobile units in the second flight formation to generate second position information, attaches a third digital signature to the second position information, and transmits it to ground equipment. The ground equipment receives the second position information to which the third digital signature (e.g., an aggregate signature or the digital signature of the second leader mobile unit) has been attached by the second leader mobile unit, and if verification of the third digital signature is successful, attaches a second digital signature (e.g., the digital signature of the base station server 110) to the second position information and transmits it to the first leader mobile unit. The first leader mobile unit receives the second position information to which the second digital signature has been attached from the ground equipment, and if verification of the second digital signature is successful, generates individual first control information to control the flight of each of the multiple first mobile units based on the second position information and the first position information, and transmits the individual first control information to each of the multiple first mobile units. Note that individual control information for the first leader mobile unit does not need to be transmitted. Each of the multiple first mobile units flies based on the individual first control information received from the first leader mobile unit. In this way, since the individual position information indicating the flight positions of the multiple second moving bodies in the second flight formation is aggregated, it becomes possible to efficiently transmit the position information of the moving bodies. Furthermore, since the second position information is also signed in each wireless section, tampering with the second position information is suppressed and identity verification will be easy.

[0257] [Perspective B3] A first leader mobile unit (e.g., leader mobile unit 100a-z) may generate a first digital signature (e.g., aggregate signature) for the first location information from the individual digital signatures (e.g., member mobile units 100a-1 to 100a-z) attached to each of the plurality of individual location information indicating the flight positions of the plurality of first mobile units. A second leader mobile unit (e.g., leader mobile unit 100b-z) may generate a third digital signature (e.g., aggregate signature) for the second location information from the individual digital signatures (e.g., member mobile units 100b-1 to 100b-z) attached to each of the plurality of individual location information indicating the flight positions of the plurality of second mobile units. By aggregating the plurality of signatures in this manner, the data traffic transmitted from the leader mobile unit 100-z to the base station server 110 is further reduced.

[0258] [Perspective B4] A first leader mobile body (e.g., leader mobile body 100a-z) may generate individual control information for each of a plurality of first mobile bodies based on the first location information and the second location information, attach the digital signature of the first leader mobile body to each of the generated individual control information, and transmit the individual control information attached with the digital signature of the first leader mobile body to each of the plurality of first mobile bodies except the first leader mobile body. A second leader mobile body (e.g., leader mobile body 100b-z) may generate individual control information for each of a plurality of second mobile bodies based on the first location information and the second location information, attach the digital signature of the second leader mobile body to each of the generated individual control information, and transmit the individual control information attached with the digital signature of the second leader mobile body to each of the plurality of second mobile bodies except the second leader mobile body.

[0259] [Perspective B5] In the first flight formation, each of the multiple first moving bodies (e.g., moving bodies 100a-1 to 100a-n) other than the first leader moving body may receive individual control information bearing the digital signature of the first leader moving body from the first leader moving body, and if verification of the digital signature of the first leader moving body is successful, may control the flight state of its own aircraft in accordance with the individual control information addressed to it. In the second flight formation, each of the multiple second moving bodies (e.g., moving bodies 100b-1 to 100b-m) other than the second leader moving body may receive individual control information bearing the digital signature of the second leader moving body from the second leader moving body, and if verification of the digital signature of the second leader moving body is successful, may control the flight state of its own aircraft in accordance with the individual control information addressed to it. This will prevent tampering with the control information and make it easier to verify the identity of the person.

[0260] The individual control information may be provided with identification information of the member mobile object 100. This will make it easier for each member mobile object 100 to determine whether the control information is addressed to itself.

[0261] [Perspective B6] The ground equipment (e.g., base station server 110) may register the identification information of flight formations or commander mobile units flying in the controlled airspace that the ground equipment is responsible for and store a table in memory 401 or the like. By referencing the table, the ground equipment may determine the first commander mobile unit as the destination of second position information received from the second commander mobile unit, and may also determine the second commander mobile unit as the destination of first position information received from the first commander mobile unit. In this way, since position information is transmitted and received only between multiple formations flying in the same controlled airspace, traffic related to position information may be reduced.

[0262] [Perspective B7] The first leader mobile body 100a-z may generate a challenge (e.g., a random number) and broadcast the challenge to multiple first mobile bodies 100a. Each of the multiple first mobile bodies 100a creates individual position information (message) including its own identification information, position information indicating its own flight position, time information (member transmission time information) regarding the time when the individual position information is to be transmitted, and the broadcasted challenge, and sends the individual position information to the first leader mobile body 100z after adding a signature to the individual position information using its own private key. The first leader mobile body 100a-z has a public key corresponding to this private key.

[0263] The first leader mobile unit 100a-z performs peer authentication for each of the multiple first mobile units 100a by comparing the challenge generated by itself with the challenge included in the individual location information, and if the peer authentication is successful, verifies the individual digital signature. Note that the first leader mobile unit 100a-z may discard the individual location information that fails peer authentication and not aggregate it.

[0264] The first leader mobile body 100a-z may generate a response using the challenge, time information received from each of the multiple first mobile bodies 100a, and the common key of each of the multiple first mobile bodies 100a, and may transmit a message for each of the multiple first mobile bodies 100a including the response, individual first control information, identification information for each of the multiple first mobile bodies 100a, and time information regarding the time to transmit the individual first control information, with the digital signature of the first leader mobile body 100a-z attached. More specifically, when the destination is the first mobile body 100a-1, the first leader mobile body 100a-z generates a response using the challenge, the time information received from the first mobile body 100a-1, and the common key of the first mobile body 100a-1, and sends a message to the first mobile body 100a-1, including the response, individual first control information, identification information of the first mobile body 100a-1, and time information (leader transmission time information) regarding the time at which the individual first control information is to be transmitted, with the digital signature of the first leader mobile body 100a-z attached.

[0265] Each of the multiple first mobile bodies 100a receives the response, individual first control information, its own identification information, the leader transmission time information, and the digital signature of the first leader mobile body 100a-z. Each of the multiple first mobile bodies 100a generates a comparison response using the challenge broadcast from the first leader mobile body 100a-z, the member transmission time information that the first mobile body 100a has assigned to its individual location information, and its own common key. The first mobile body 100a performs peer authentication of the first leader mobile body 100a-z by comparing the response received from the first leader mobile body 100a-z with the comparison response. If the peer authentication is successful, the digital signature of the first leader mobile body 100a-z is verified. The leader transmission time information is used to ensure data freshness. This may prevent replay attacks.

[0266] Similarly, the first leader mobile body 100b-z may generate a challenge (e.g., a random number) and broadcast the challenge to multiple first mobile bodies 100b. Each of the multiple first mobile bodies 100b creates individual position information (message) including its own identification information, position information indicating its own flight position, time information (member transmission time information) regarding the time when the individual position information is to be transmitted, and the broadcasted challenge, and then signs the individual position information using its own private key and transmits it to the first leader mobile body 100z. The first leader mobile body 100b-z has a public key corresponding to this private key.

[0267] The first leader mobile body 100b-z performs peer authentication for each of the multiple first mobile bodies 100b by comparing the challenge generated by itself with the challenge included in the individual location information, and if the peer authentication is successful, verifies the individual digital signature. Note that the first leader mobile body 100b-z may discard the individual location information that fails peer authentication and not aggregate it.

[0268] The first leader mobile body 100b-z may generate a response using the challenge, time information received from each of the multiple first mobile bodies 100b, and the common key of each of the multiple first mobile bodies 100b, and may transmit a message including the response, individual first control information, identification information of each of the multiple first mobile bodies 100b, and time information regarding the time to transmit the individual first control information, with the digital signature of the first leader mobile body 100b-z attached, for each of the multiple first mobile bodies 100b. More specifically, when the destination is the first mobile body 100b-1, the first leader mobile body 100b-z generates a response using the challenge, the time information received from the first mobile body 100b-1, and the common key of the first mobile body 100b-1, and sends a message to the first mobile body 100b-1, including the response, individual first control information, identification information of the first mobile body 100b-1, and time information (leader transmission time information) regarding the time to transmit the individual first control information, with the digital signature of the first leader mobile body 100b-z attached.

[0269] Each of the multiple first mobile bodies 100b receives the response, individual first control information, its own identification information, the leader transmission time information, and the digital signature of the first leader mobile body 100b-z. Each of the multiple first mobile bodies 100b generates a comparison response using the challenge broadcast from the first leader mobile body 100b-z, the member transmission time information that the first mobile body 100b has assigned to its individual location information, and its own common key, and performs peer authentication of the first leader mobile body 100b-z by comparing the response received from the first leader mobile body 100b-z with the comparison response. If the peer authentication is successful, the digital signature of the first leader mobile body 100b-z is verified. The leader transmission time information is used to ensure data freshness. This may prevent replay attacks.

[0270] [Perspective B8] A ground facility (e.g., a base station server 110) in a navigation assistance system having a plurality of first mobile bodies belonging to a first flight formation, a plurality of second mobile bodies belonging to a second flight formation, and ground facilities is provided. The wireless communication circuit 404 and the position group receiving unit 2301 function as receiving means for receiving, from a first commander mobile body acting as a commander aircraft in the first flight formation among the plurality of first mobile bodies, first position information and a first digital signature (e.g., an aggregate signature or the digital signature of the commander mobile body 100a-z) generated by aggregating individual position information indicating the respective flight positions of the plurality of first mobile bodies in the first flight formation, and for receiving, from a second commander mobile body acting as a commander aircraft in the second flight formation among the plurality of second mobile bodies, second position information and a second digital signature (e.g., an aggregate signature or the digital signature of the commander mobile body 100b-z) generated by aggregating individual position information indicating the respective flight positions of the plurality of first mobile bodies in the second flight formation. The CPU 400 and the signature verification unit 2302 function as a signature verification means for verifying the first digital signature and the second digital signature. If the verification of the first digital signature is successful, the CPU 400 and the signature assignment unit 2305 assign a third digital signature (e.g., the digital signature of the base station server 110) to the first location information. If the verification of the second digital signature is successful, the CPU 400 and the signature assignment unit 2305 function as a signature assignment means for assigning the third digital signature to the second location information. The CPU 400, the wireless communication circuit 404, and the location group transmission unit 2306 function as a transmission means for transmitting the second location information with the third digital signature assigned to the first leader mobile unit and transmitting the first location information with the third digital signature assigned to the second leader mobile unit. In this way, the individual location information of multiple mobile units is aggregated and transmitted, providing a server that efficiently transmits the location information of mobile units. Furthermore, since the first location information and the second location information are assigned digital signatures, tampering with the first location information and the second location information is suppressed, making it easier to verify the identity of the user.

[0271] [Perspective B9] The CPU 400 may function as a registration means for registering in a table the identification information of a flight formation or a commander mobile unit flying in the controlled airspace managed by the ground equipment. The CPU 400 or the destination determination unit 2304 may function as a determination means for determining the first commander mobile unit as the destination of second position information received from the second commander mobile unit, and determining the second commander mobile unit as the destination of first position information received from the first commander mobile unit, by referencing the table. This makes it possible to easily determine the destination of the position information. Since position information is transmitted and received only between multiple formations flying in the same controlled airspace, traffic related to the position information can be reduced.

[0272] [Point of View B10] The third digital signature may be a digital signature of a ground facility.

[0273] [Point of View B11] According to Example C, in a navigation assistance system having a plurality of first moving bodies belonging to a first flight formation, a plurality of second moving bodies belonging to a second flight formation, a first commander moving body acting as a commander aircraft in the first flight formation among the plurality of first moving bodies, a second commander moving body acting as a commander aircraft in the second flight formation among the plurality of second moving bodies, and ground equipment that wirelessly communicates with the first and second commander moving bodies, a moving body (e.g., commander moving bodies 100a-z, 100b-z) acting as the first commander moving body is provided. The positioning circuit 305, CPU 300, position acquisition unit 311, and position receiving unit 411 function as acquisition means for acquiring individual position information indicating the flight position of each of the plurality of first moving bodies. The CPU 300 and aggregation unit 412 function as aggregation means for aggregating the individual position information of each of the plurality of first moving bodies to generate first position information. The CPU 300, the wireless communication circuit 304, and the position group transmission unit 414 function as a first transmission means that adds a first digital signature to the first position information and transmits it to the ground equipment. The CPU 300, the wireless communication circuit 304, and the position group reception unit 2201 function as a reception means that receives, from the ground equipment, second position information and the second digital signature generated by aggregating the individual position information of each of the multiple second moving objects. The CPU 300 and the signature verification unit 2202 function as a signature verification means that verifies the second digital signature. If the verification of the second digital signature is successful, the CPU 300 and the command generation unit 2204 function as a generation means that uses the second position information and the first position information to generate individual control information for controlling the flight position of each of the multiple first moving objects. The CPU 300, the wireless communication circuit 304, and the command transmission unit 2205 function as a second transmission means that transmits the individual control information to a corresponding moving object among the multiple first moving objects. In this way, the individual position information of a large number of moving objects is aggregated and transmitted, providing a server that efficiently transmits the position information of moving objects. Furthermore, since the first location information and the second location information are provided with a digital signature, tampering with the first location information and the second location information is prevented, and identity verification will be easier.

[0274] [Point of View B12] The CPU 300 and the signature assigning unit 2200 function as a signature generating means for generating a first digital signature based on the digital signature assigned to the individual location information of each of the plurality of first mobile bodies. In this way, the plurality of digital signatures are aggregated into a single digital signature, which will reduce the data traffic transferred from the leader mobile body 100-z to the base station server 110.

[0275] [Point of View B13] The second digital signature may be a digital signature of a ground facility.

[0276] [Point of View B14] The CPU 300 and the signature assigning unit 2200 function as a signature assigning means for assigning the digital signature of the first leader mobile unit to the individual control information. A second transmission means (e.g., command transmission unit 2205) may transmit the individual control information to which the digital signature of the first leader mobile unit has been assigned. This will make it easier to prevent tampering with the individual control information and to verify the identity of the individual.

[0277] [Point of View B15] A control method for a navigation assistance system is provided, which includes a plurality of first moving bodies flying in a first flight formation, a plurality of second moving bodies flying in a second flight formation, and ground equipment that wirelessly communicates with a first leader moving body that acts as a leader aircraft in the first flight formation among the plurality of first moving bodies, and a second leader moving body that acts as a leader aircraft in the second flight formation among the plurality of second moving bodies. the first commander mobile unit aggregates individual position information indicating the flight positions of the plurality of first mobile units in the first flight formation to generate first position information, attaches a first digital signature to the first position information, and transmits the first position information to the ground equipment; The ground equipment receives the first location information to which the first digital signature has been added by the first commander mobile unit, and when verification of the first digital signature is successful, adds a second digital signature to the first location information and transmits it to the second commander mobile unit; the second commander mobile body receives the first position information with the second digital signature attached from the ground equipment, and if verification of the second digital signature is successful, generates individual second control information for controlling the flight of each of the multiple second mobile bodies based on the first position information and second position information indicating the flight positions of the multiple second mobile bodies, and transmits the individual second control information to each of the multiple second mobile bodies; each of the plurality of second moving bodies flying based on individual second control information received from the second leader moving body; In this way, the individual position information of a large number of mobile bodies is aggregated and transmitted, thereby providing a navigation assistance system that efficiently transmits the position information of mobile bodies. Furthermore, since a digital signature is attached to the first position information, tampering with the first position information is suppressed and identity verification is also facilitated.

[0278] [Point of View B16] There may be provided a method for controlling ground equipment in a navigation assistance system having a plurality of first moving bodies belonging to a first flight formation, a plurality of second moving bodies belonging to a second flight formation, and ground equipment, the control method comprising: a receiving process for receiving, from a first commander mobile unit among the plurality of first mobile units acting as a commander aircraft in a first flight formation, first position information and a first digital signature generated by aggregating individual position information indicating the flight positions of each of the plurality of first mobile units in the first flight formation, and receiving, from a second commander mobile unit among the plurality of second mobile units acting as a commander aircraft in a second flight formation, second position information and a second digital signature generated by aggregating individual position information indicating the flight positions of each of the plurality of first mobile units in the second flight formation; a signature verification step of verifying the first digital signature and the second digital signature; a signature adding step of adding a third digital signature to the first location information if the verification of the first digital signature is successful, and adding the third digital signature to the second location information if the verification of the second digital signature is successful; a transmitting step of transmitting the second location information with the third digital signature to a first leader mobile body and transmitting the first location information with the third digital signature to a second leader mobile body; In this way, the individual location information of a large number of mobile objects is aggregated and transmitted, thereby providing a server that efficiently transmits the location information of mobile objects. Furthermore, since a digital signature is attached to the first location information and the second location information, tampering with the first location information and the second location information is inhibited, and identity verification will be facilitated.

[0279] [Point of View B17] There is also provided a computer program that causes a computer to execute the control method according to aspect 16. This computer program is stored in the non-volatile storage area of ​​the memory 401 of the base station server 110, for example, and is executed by the CPU 400.

[0280] [Point of View B18] In a flight assistance system having a plurality of first moving bodies belonging to a first flight formation, a plurality of second moving bodies belonging to a second flight formation, a first commander moving body among the plurality of first moving bodies that acts as a commander aircraft in the first flight formation, a second commander moving body among the plurality of second moving bodies that acts as a commander aircraft in the second flight formation, and ground equipment that wirelessly communicates with the first commander moving body and the second commander moving body, a control method for the moving body that acts as the first commander moving body may be provided. an acquisition step of acquiring individual position information indicating the flight positions of each of the plurality of first moving bodies; an aggregation step of aggregating the individual position information of each of the plurality of first moving objects to generate first position information; a first transmitting step of adding a first digital signature to the first location information and transmitting the first location information to ground equipment; a receiving step of receiving, from the ground facility, second location information generated by aggregating the individual location information of each of the plurality of second moving bodies and a second digital signature; a signature verification step of verifying the second digital signature; a generation step of generating individual control information for controlling the flight positions of each of the plurality of first moving bodies using the second position information and the first position information when the verification of the second digital signature is successful; a second transmitting step of transmitting the individual control information to a corresponding one of the plurality of first moving objects; In this way, the individual location information of a large number of mobile objects is aggregated and transmitted, thereby providing a server that efficiently transmits the location information of mobile objects. Furthermore, since a digital signature is attached to the first location information and the second location information, tampering with the first location information and the second location information is inhibited, and identity verification will be facilitated.

[0281] [Point of View B19] A computer program may be provided that causes a computer to execute the control method described in aspect 18. The computer program is stored in the non-volatile storage area of ​​the memory 301 of the moving body 100, for example, and is executed by the CPU 300.

[0282] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0283] 100: Mobile unit, 110: Base station server, 120: Control server

Claims

1. a plurality of first moving bodies flying in a first flight formation; a plurality of second moving bodies flying in a second flight formation; a ground facility that wirelessly communicates with a first commander mobile unit among the plurality of first mobile units that acts as a commander aircraft in the first flight formation, and a second commander mobile unit among the plurality of second mobile units that acts as a commander aircraft in the second flight formation; A driving assistance system having: The first commander mobile unit aggregates individual position information indicating the flight positions of the plurality of first mobile units in the first flight formation to generate first position information, assigns a first digital signature to the first position information, and transmits the first position information to the ground equipment; The ground equipment receives the first location information to which the first digital signature has been added by the first leader mobile unit, and if verification of the first digital signature is successful, adds a second digital signature to the first location information and transmits it to the second leader mobile unit; The second commander mobile body receives the first position information with the second digital signature attached from the ground equipment, and if verification of the second digital signature is successful, generates individual second control information for controlling the flight of each of the plurality of second mobile bodies based on the first position information and second position information indicating the flight positions of the plurality of second mobile bodies, and transmits the individual second control information to each of the plurality of second mobile bodies; Each of the plurality of second moving bodies flies based on the individual second control information received from the second leader moving body. A driving assistance system configured as follows.

2. The second commander mobile unit aggregates individual position information indicating the flight positions of the second mobile units in the second flight formation to generate the second position information, attaches a third digital signature to the second position information, and transmits the second position information to the ground equipment; The ground equipment receives the second location information to which the third digital signature has been added by the second leader mobile unit, and if verification of the third digital signature is successful, adds the second digital signature to the second location information and transmits it to the first leader mobile unit; the first commander mobile body receives the second position information with the second digital signature attached from the ground equipment, and if verification of the second digital signature is successful, generates individual first control information for controlling the flight of each of the plurality of first mobile bodies based on the second position information and the first position information, and transmits the individual first control information to each of the plurality of first mobile bodies; The navigation assistance system according to claim 1, wherein each of the plurality of first moving bodies flies based on the individual first control information received from the first leader moving body.

3. The first captain mobile body, generating the first digital signature for the first position information from an individual digital signature assigned to each of a plurality of individual position information indicating the flight positions of the plurality of first moving bodies; The second commander mobile body, generating the third digital signature for the second position information from an individual digital signature assigned to each of a plurality of individual position information indicating the flight positions of the plurality of second moving bodies; The travel assistance system according to claim 2, wherein the travel assistance system is configured as follows:

4. The first leader mobile body is configured to generate individual control information for each of the plurality of first mobile bodies based on the first location information and the second location information, to attach a digital signature of the first leader mobile body to each of the generated individual control information, and to transmit the individual control information attached with the digital signature of the first leader mobile body to each of the plurality of first mobile bodies except for the first leader mobile body, The navigation assistance system described in claim 3, wherein the second captain mobile body is configured to generate individual control information for each of the plurality of second mobile bodies based on the first location information and the second location information, to attach a digital signature of the second captain mobile body to each of the generated individual control information, and to transmit the individual control information attached with the digital signature of the second captain mobile body to each of the plurality of second mobile bodies excluding the second captain mobile body.

5. Each of the plurality of first moving bodies in the first flight formation, except for the first commander moving body, receives individual control information with the digital signature of the first commander moving body from the first commander moving body, and when the digital signature of the first commander moving body is successfully verified, controls the flight state of the own aircraft according to the individual control information addressed to the own aircraft; In the second flight formation, each of the plurality of second mobile bodies, excluding the second commander mobile body, receives individual control information bearing the digital signature of the second commander mobile body from the second commander mobile body, and when verification of the digital signature of the second commander mobile body is successful, controls the flight state of its own aircraft in accordance with the individual control information addressed to itself.

5. The travel assistance system according to claim 4, wherein the travel assistance system is configured as follows:

6. The ground equipment maintains a table that registers identification information of flight formations or commander mobile units flying in the controlled airspace that the ground equipment is responsible for, and by referring to the table, determines the first commander mobile unit as the destination of the second location information received from the second commander mobile unit, and determines the second commander mobile unit as the destination of the first location information received from the first commander mobile unit. The travel assistance system according to claim 1 , wherein the travel assistance system is configured as follows:

7. The first leader mobile unit generates a challenge for authentication of the other party and broadcasts the challenge to the plurality of first mobile units; Each of the plurality of first moving bodies creates the individual location information including its own identification information, location information indicating its own flight position, time information regarding the time to transmit the individual location information, and the broadcasted challenge, signs the individual location information using its own key, and transmits the signed information to the first commander moving body; The first leader mobile unit performs peer authentication for each of the first mobile units by comparing the challenge generated by itself with the challenge included in the individual location information, and if the peer authentication is successful, verifies the individual digital signature; The first leader mobile unit generates a response using the challenge, the time information received from each of the plurality of first mobile units, and the common key of each of the plurality of first mobile units, and transmits to each of the plurality of first mobile units the response, the individual first control information, identification information of each of the plurality of first mobile units, time information regarding the time to transmit the individual first control information, and the digital signature of the first leader mobile unit; Each of the plurality of first moving bodies is receiving the response, the individual first control information, the identification information of the mobile unit itself, time information regarding the time to transmit the individual first control information, and the digital signature of the first leader mobile unit; A response for comparison is generated using the challenge broadcast from the first leader mobile unit, the time information assigned to the individual location information by the mobile unit itself, and the common key of the mobile unit itself, and by comparing the response received from the first leader mobile unit with the response for comparison, authentication of the first leader mobile unit is performed, and if the authentication of the first leader mobile unit is successful, the digital signature of the first leader mobile unit is verified. The travel assistance system according to claim 5, wherein the travel assistance system is configured as follows:

8. A ground facility in a flight assistance system having a plurality of first moving bodies belonging to a first flight formation, a plurality of second moving bodies belonging to a second flight formation, and ground facilities, a receiving means for receiving, from a first commander mobile unit among the plurality of first moving bodies that acts as a commander aircraft in the first flight formation, first position information and a first digital signature generated by aggregating individual position information indicating the flight positions of each of the plurality of first moving bodies in the first flight formation, and for receiving, from a second commander mobile unit among the plurality of second moving bodies that acts as a commander aircraft in the second flight formation, second position information and a second digital signature generated by aggregating individual position information indicating the flight positions of each of the plurality of first moving bodies in the second flight formation; a signature verification means for verifying the first digital signature and the second digital signature; a signature assigning means for assigning a third digital signature to the first location information when the first digital signature is successfully verified, and for assigning the third digital signature to the second location information when the second digital signature is successfully verified; a transmitting means for transmitting the second location information to which the third digital signature has been added to the first leader mobile body, and transmitting the first location information to which the third digital signature has been added to the second leader mobile body; Ground facilities having:

9. a registration means for registering in a table the identification information of a flight formation or a flight leader mobile unit flying in the airspace controlled by the ground equipment; a determination means for determining the first leader mobile body as the destination of the second location information received from the second leader mobile body by referring to the table, and determining the second leader mobile body as the destination of the first location information received from the first leader mobile body; The ground facility of claim 8, further comprising:

10. The ground facility according to claim 8 , wherein the third digital signature is a digital signature of the ground facility.

11. In a flight assistance system having a plurality of first mobile bodies belonging to a first flight formation, a plurality of second mobile bodies belonging to a second flight formation, a first commander mobile body among the plurality of first mobile bodies that acts as a commander aircraft in the first flight formation, a second commander mobile body among the plurality of second mobile bodies that acts as a commander aircraft in the second flight formation, and ground equipment that communicates wirelessly with the first commander mobile body and the second commander mobile body, a mobile body that acts as the first commander mobile body, An acquisition means for acquiring individual position information indicating the flight position of each of the plurality of first moving bodies; an aggregation unit that aggregates the individual position information of each of the plurality of first moving objects to generate first position information; a first transmitting means for adding a first digital signature to the first location information and transmitting the first location information to the ground equipment; a receiving means for receiving, from the ground facility, second location information generated by aggregating the individual location information of each of the plurality of second moving bodies and a second digital signature; a signature verification means for verifying the second digital signature; a generating means for generating individual control information for controlling the flight positions of each of the plurality of first moving bodies using the second position information and the first position information when the verification of the second digital signature is successful; a second transmitting means for transmitting the individual control information to a corresponding one of the plurality of first moving objects; A mobile object having the above configuration.

12. The mobile body according to claim 11 , further comprising a signature generating means for generating the first digital signature based on a digital signature attached to individual location information of each of the plurality of first mobile bodies.

13. The mobile body of claim 11 , wherein the second digital signature is a digital signature of the ground facility.

14. The system further includes a signature assigning means for assigning a digital signature of the first leader mobile unit to the individual control information, 12. The mobile body according to claim 11, wherein the second transmitting means transmits the individual control information to which a digital signature of the first leader mobile body has been added.

15. a plurality of first moving bodies flying in a first flight formation; a plurality of second moving bodies flying in a second flight formation; a ground facility that wirelessly communicates with a first commander mobile unit among the plurality of first mobile units that acts as a commander aircraft in the first flight formation, and a second commander mobile unit among the plurality of second mobile units that acts as a commander aircraft in the second flight formation; A control method for a driving assistance system having The first commander mobile unit aggregates individual position information indicating the flight positions of the plurality of first mobile units in the first flight formation to generate first position information, attaches a first digital signature to the first position information, and transmits the first position information to the ground equipment; The ground equipment receives the first location information to which the first digital signature has been added by the first leader mobile unit, and if verification of the first digital signature is successful, adds a second digital signature to the first location information and transmits it to the second leader mobile unit; The second commander mobile body receives the first position information with the second digital signature attached from the ground equipment, and if verification of the second digital signature is successful, generates individual second control information for controlling the flight of each of the plurality of second mobile bodies based on the first position information and second position information indicating the flight positions of the plurality of second mobile bodies, and transmits the individual second control information to each of the plurality of second mobile bodies; Each of the plurality of second moving bodies flies based on the individual second control information received from the second leader moving body; A control method for a driving assistance system, comprising:

16. A method for controlling ground equipment in a flight assistance system having a plurality of first moving bodies belonging to a first flight formation, a plurality of second moving bodies belonging to a second flight formation, and ground equipment, comprising: a receiving process for receiving, from a first commander mobile unit among the plurality of first moving bodies that acts as a commander aircraft in the first flight formation, first position information and a first digital signature generated by aggregating individual position information indicating the flight positions of each of the plurality of first moving bodies in the first flight formation, and receiving, from a second commander mobile unit among the plurality of second moving bodies that acts as a commander aircraft in the second flight formation, second position information and a second digital signature generated by aggregating individual position information indicating the flight positions of each of the plurality of first moving bodies in the second flight formation; a signature verification step of verifying the first digital signature and the second digital signature; a signature adding step of adding a third digital signature to the first location information if the verification of the first digital signature is successful, and adding the third digital signature to the second location information if the verification of the second digital signature is successful; a transmitting step of transmitting the second location information with the third digital signature to the first leader mobile body, and transmitting the first location information with the third digital signature to the second leader mobile body; A control method comprising:

17. A computer program that causes a computer to execute the control method according to claim 16.

18. A method for controlling a mobile body that operates as the first leader mobile body in a flight assistance system having a plurality of first mobile bodies belonging to a first flight formation, a plurality of second mobile bodies belonging to a second flight formation, a first leader mobile body among the plurality of first mobile bodies that operates as a leader aircraft in the first flight formation, a second leader mobile body among the plurality of second mobile bodies that operates as a leader aircraft in the second flight formation, and ground equipment that wirelessly communicates with the first leader mobile body and the second leader mobile body, comprising: an acquisition step of acquiring individual position information indicating the flight positions of each of the plurality of first moving bodies; an aggregation step of aggregating the individual position information of each of the plurality of first moving objects to generate first position information; a first transmitting step of adding a first digital signature to the first location information and transmitting the first location information to the ground equipment; a receiving step of receiving, from the ground facility, second location information generated by aggregating the individual location information of each of the plurality of second moving bodies and a second digital signature; a signature verification step of verifying the second digital signature; a generation step of generating individual control information for controlling the flight positions of each of the plurality of first moving bodies using the second position information and the first position information when the verification of the second digital signature is successful; a second transmission step of transmitting the individual control information to a corresponding one of the plurality of first moving objects; A control method comprising:

19. A computer program that causes a computer to execute the control method according to claim 18.

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