CN110720185B - Mobile platform hijacked behavior identification and coping method and device and mobile platform - Google Patents
Mobile platform hijacked behavior identification and coping method and device and mobile platform Download PDFInfo
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- 230000006399 behavior Effects 0.000 title claims abstract description 44
- 230000010485 coping Effects 0.000 title claims abstract description 27
- 230000006854 communication Effects 0.000 claims abstract description 90
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/20—Countermeasures against jamming
- H04K3/22—Countermeasures against jamming including jamming detection and monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/20—Countermeasures against jamming
- H04K3/25—Countermeasures against jamming based on characteristics of target signal or of transmission, e.g. using direct sequence spread spectrum or fast frequency hopping
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/82—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection
- H04K3/827—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection using characteristics of target signal or of transmission, e.g. using direct sequence spread spectrum or fast frequency hopping
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/92—Jamming or countermeasure characterized by its function related to allowing or preventing remote control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
A method and a device for identifying and coping hijacked behaviors of a mobile platform and the mobile platform, wherein the method comprises the following steps: collecting a target signal when the mobile platform is out of communication with the ground station (S201); analyzing and processing the target signal, and identifying whether the mobile platform is hijacked or not to obtain an identification result (S202); and executing corresponding operation according to the identification result and the state information acquired by the mobile platform (S203). By adopting the method, the hijacked behavior of the mobile platform can be timely identified, corresponding countermeasures are taken, and the safety of the mobile platform is ensured.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a method and a device for identifying and coping hijacking behaviors of a mobile platform and the mobile platform.
Background
With the development of the information age, more advanced information processing and communication technologies are applied to mobile platforms, so that the variety of mobile platforms is continuously increased, and the application field is also more and more extensive. Taking unmanned aerial vehicle as an example, the current unmanned aerial vehicle can be applied to various fields such as aerial photography, news report, electric power inspection, film and television shooting and the like. In the working process of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to finish corresponding operation mainly through communication signals of the ground station. However, the situation of hijacking the unmanned aerial vehicle has now appeared, when the external world hijacking unmanned aerial vehicle, can interfere the communication signal of unmanned aerial vehicle, causes unmanned aerial vehicle and ground station to lose the connection to make unmanned aerial vehicle appear wrong geographical position discernment, thereby lead to unmanned aerial vehicle and ground station to lose the connection. Therefore, how to identify the hijacked behavior of the mobile platform is a technical problem that needs to be solved currently.
Disclosure of Invention
The embodiment of the invention provides a method and a device for identifying and coping hijacked behaviors of a mobile platform, and the mobile platform, wherein the method and the device can be used for identifying the hijacked behaviors of the mobile platform in time and taking corresponding countermeasure to ensure the safety of the mobile platform.
In one aspect, an embodiment of the present invention provides a method for identifying and coping hijacking behavior of a mobile platform, where the method includes:
when the mobile platform is out of connection with the ground station, collecting a target signal;
analyzing and processing the target signal, and identifying whether the mobile platform is hijacked or not;
when the mobile platform is determined to have hijacked behaviors, corresponding operations are executed according to the state information acquired by the mobile platform.
In another aspect, an embodiment of the present invention provides a hijacking behavior recognition and handling apparatus for a mobile platform, where the apparatus includes a memory and a processor, where the memory and the processor are connected by a bus, the memory is configured to store program code, and the processor is configured to invoke the program code, and when the program code is executed, perform the following operations:
When the mobile platform is out of connection with the ground station, collecting a target signal;
analyzing and processing the target signal, and identifying whether the mobile platform is hijacked or not;
when the mobile platform is determined to have hijacked behaviors, corresponding operations are executed according to the state information acquired by the mobile platform.
In yet another aspect, an embodiment of the present invention provides a mobile platform, which is characterized in that the mobile platform includes a body, a power system, and a device for identifying and coping with hijacking behavior of the mobile platform as described above. The power system is arranged on the machine body and used for providing power for the mobile platform.
Correspondingly, the embodiment of the invention also provides a computer readable storage medium, which is characterized in that the computer readable storage medium stores a computer program, and the computer program comprises program instructions, and the program instructions when being executed by a processor cause the processor to execute the method for identifying and coping with the hijacked behavior of the mobile platform.
In the embodiment of the invention, the target signal is acquired under the condition that the mobile platform is detected to be out of connection with the ground station, further, whether the mobile platform is hijacked or not is identified by analyzing and processing the target signal, and finally, corresponding operation is executed according to the identification result and the state information acquired by the mobile platform, so that the safety of the mobile platform can be ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an application scenario diagram of normal operation of a mobile platform according to an embodiment of the present invention;
fig. 2 is a flow chart of a method for identifying and coping hijacking behavior of a mobile platform according to an embodiment of the present invention;
fig. 3 is a schematic diagram of another method for identifying and coping hijacking behavior of a mobile platform according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a device for identifying hijacking behavior and coping with mobile platform according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a method for identifying and coping hijacked behaviors of a mobile platform, which can be applied to the mobile platform and is mainly used for identifying and coping hijacked behaviors of the mobile platform in time, so that the safety of the mobile platform is ensured. The mobile platform herein includes mobile devices that are controlled by wireless communications, which may be manned or unmanned, flying or ground, large or small, such as unmanned, automotive, remote control models, etc., without limitation.
In one embodiment, the mobile platform may rely primarily on global satellite navigation system (Global Navigation Satellite System, GNSS) signals and control signals from the ground station to perform the corresponding operations during operation, which may result in the risk of hijacking the mobile platform once the GNSS signals and/or the control signals of the ground station are disturbed or falsified. The method for identifying and coping with hijacked mobile platform provided by the embodiment of the invention can determine whether the hijacked mobile platform has the hijacked behavior or not by analyzing GNSS signals and/or control signals from the ground station, and timely take coping operations under the condition of the hijacked behavior.
Taking a mobile platform as an unmanned aerial vehicle as an example, referring to fig. 1 as an unmanned aerial vehicle working scene diagram, it can be seen from fig. 1 that a ground station related to the unmanned aerial vehicle may be a remote controller or may be other ground stations. The unmanned aerial vehicle can receive the control signal of the remote controller, and execute corresponding operations, such as steering, stopping advancing and the like, according to the control signal of the remote controller. The unmanned aerial vehicle is positioned according to the received GNSS signals and used for determining the current position of the unmanned aerial vehicle, so that the unmanned aerial vehicle can conveniently control the unmanned aerial vehicle to fly on a preset route according to control signals of a ground station or according to a flight control module in the unmanned aerial vehicle. In one embodiment, an automatic return program can be configured in the unmanned aerial vehicle, and when the unmanned aerial vehicle detects that the unmanned aerial vehicle is out of connection with the ground station, but the unmanned aerial vehicle does not have hijack, the unmanned aerial vehicle executes the automatic return program to control the unmanned aerial vehicle to return according to a return route in the return program.
Referring to fig. 2, a method for identifying and coping hijacked behavior of a mobile platform according to an embodiment of the present invention can identify hijacked behavior of the mobile platform and take coping measures in time by using the method for identifying and coping hijacked behavior of the mobile platform shown in fig. 2, so as to ensure security of the mobile platform. The method shown in fig. 2 can be specifically executed by a device for identifying and coping hijacked behaviors of a mobile platform, wherein the device for identifying and coping hijacked behaviors of the mobile platform can be configured in the mobile platform; alternatively, the method shown in FIG. 2 may be performed by a mobile platform with hijacked behavior recognition and response functions.
Step 201, when the mobile platform is out of connection with the ground station, a target signal is acquired.
In one embodiment, the target signals include one or more of scanning signals and GNSS signals over at least one operating frequency band of the mobile platform. The working frequency band of the mobile platform can be set by the letter department according to the application field of the mobile platform and the requirements of each field on the mobile platform, and can also be set by mobile platform manufacturers according to the self requirements when leaving factories. For example, assuming that the mobile platform is an unmanned aerial vehicle, in order to meet the requirements of the industrial and communication department on unmanned aerial vehicle systems such as emergency disaster relief, forest fire prevention, environmental monitoring and scientific research tests, a certain unmanned aerial vehicle manufacturer provides one or more of 2.400GHz-2.483GHz and 5.725GHz-5.850GHz for the unmanned aerial vehicle systems.
In one embodiment, if the target signal includes a scanning signal in at least one operating frequency band, when detecting that the mobile platform is out of connection with the ground station, the method for acquiring the target signal may be: and acquiring each working frequency band of the mobile platform, and then acquiring scanning signals on each working frequency band so as to judge whether the communication between the current mobile platform and the ground station is interfered or not according to the scanning signals. If the target signal includes a GNSS signal, when it is detected that the mobile platform is out of connection with the ground station, the manner of collecting the target signal may be: determining the disconnection time of the disconnection of the mobile platform and the ground station, collecting GNSS signals in a first time period including the disconnection time based on the disconnection time, and taking the collected GNSS signals in the first time period as target signals.
In one embodiment, the manner of determining that the mobile platform is out of contact with the ground station may be: if it is detected that the communication signal from the ground station is not received within the second time period, determining that the mobile platform is out of communication with the ground station. In one embodiment, the second time period is preset, and the second time period may be set according to a maximum time supported by the mobile platform that may not receive the communication signal of the ground station. The second time period may be a time period greater than the maximum time described above, such as 5 minutes, the second time period may be 7 minutes, or other time period. The case where the mobile platform does not receive the communication signal of the ground station may be: the current environment state of the mobile platform can enable the mobile platform to fly stably and safely according to a preset flight route in the current flight state; the maximum time that the mobile platform may not receive the communication signal of the ground station refers to: the time that the mobile platform is flying smoothly in the current flight state. For example, assuming that the mobile platform is an unmanned aerial vehicle, a preset flight route is set for the unmanned aerial vehicle in advance, and assuming that the unmanned aerial vehicle can fly in a current flight state for 12 minutes on the preset flight route when the external environment is in a good state, the mobile platform may set the second time period to be any time period greater than 12 minutes.
In yet another embodiment, the manner of determining that the mobile platform is out of contact with the ground station may be: acquiring a communication signal-to-noise ratio between the mobile platform and the ground station in a third time period; and if the communication signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold, determining that the mobile platform is out of connection with the ground station. The third time period may be preset by the mobile platform and the signal to noise ratio threshold may be set according to the performance of the mobile platform itself and the state of the communication channel between the mobile platform and the ground station. The signal-to-noise ratio of the communication signal and the noise signal reflects the ratio of the communication signal to the noise signal under the current channel condition, and the signal-to-noise ratio threshold reflects the maximum noise which can be received by the communication between the mobile platform and the ground station under the premise of ensuring the normal communication between the mobile platform and the ground station under the current communication channel condition.
When the communication signal-to-noise ratio is smaller than the signal-to-noise ratio threshold, the fact that larger noise signal interference exists in the communication process of the mobile platform and the ground station can influence the transmission of communication signals between the mobile platform and the ground station is indicated, and therefore the mobile platform and the ground station are in a disconnection state; when the communication signal-to-noise ratio is greater than or equal to a preset signal-to-noise ratio threshold, the method indicates that the noise signal interference is smaller in the current communication process of the mobile platform and the ground station, and no loss of connection between the mobile platform and the ground station is caused.
Step 202, analyzing and processing the target signal, and identifying whether the mobile platform is hijacked or not to obtain an identification result.
In one embodiment, the target signal is analyzed to identify whether the mobile platform is hijacked, and the obtained identification result may include that the mobile platform is hijacked and that the mobile platform is not hijacked. Step 202 may be understood as analyzing the target signal to determine whether an anomaly has occurred in the target signal: if the target signal is abnormal, the mobile platform is shown to be hijacked; if the target signal is not abnormal, the mobile platform is possibly influenced by weather or environmental factors, so that the mobile platform is not connected with the ground station and hijacked is not generated, and the mobile platform can be controlled to execute the return operation according to a preset return route in order to ensure the safety of the mobile platform.
In one embodiment, the target signals acquired in step 201 may include one or more of a scanning signal and a GNSS signal over at least one operating frequency band. If the collected target signal in step 201 includes any one of a scanning signal or a GNSS signal on at least one working frequency band, in the process of analyzing and processing the target signal to identify whether the mobile platform is hijacked in step 202, only the scanning signal or the GNSS signal on at least one working frequency band needs to be judged to be abnormal, so that it can be determined that the mobile platform is hijacked; if the collected target signal in step 201 includes both the scanning signal and the GNSS signal on at least one working frequency band, in the process of analyzing and processing the target signal in step 202 to identify whether the mobile platform is hijacked, it is required to determine that the mobile platform is hijacked when the scanning signal and the GNSS signal on at least one working frequency band are abnormal.
In one embodiment, if the target signal includes a scanning signal on at least one operating frequency band, step 202 performs analysis processing on the target signal to identify whether the mobile platform is hijacked, including: acquiring an interference value of interference on communication between the mobile platform and the ground station on at least one working frequency band according to a scanning signal on the at least one working frequency band; and if the interference value on the at least one working frequency band meets a preset condition, determining that the mobile platform is hijacked. In yet another embodiment, the analyzing the target signal to identify whether the mobile platform is hijacked, further includes: if the interference value on at least one working frequency band does not meet the preset condition, determining that the mobile platform bit is hijacked, and controlling the mobile platform to execute corresponding operation. In other words, if the target signal includes a scanning signal in at least one operating frequency band, it may be determined whether the mobile platform is hijacked according to an interference value suffered by communication between the mobile platform and the ground station in each operating frequency band.
In one embodiment, if the target signal includes a GNSS signal, step 202 performs analysis processing on the target signal to identify whether the mobile platform is hijacked, including: judging whether the GNSS signals have abnormal changes in the first time period; and if the GNSS signal is abnormally changed in the first time period, determining that the mobile platform is hijacked. If the target signal includes a GNSS signal, whether the GNSS signal is forged or not can be determined according to whether the GNSS signal is abnormally changed or not, and further whether the mobile platform is hijacked or not is determined.
And 203, executing corresponding operations according to the identification result and the state information acquired by the mobile platform.
In one embodiment, the state information acquired by the mobile platform may include one or more of a remaining power of the mobile platform and location information of the mobile platform, where the location information of the mobile platform may include: one or more of an environmental image of the current position of the mobile platform, altitude information of the mobile platform and coordinate information of the mobile platform before abnormal change of the GNSS signal occurs.
In one embodiment, step 203 comprises: if the identification result indicates that the mobile platform is not hijacked, controlling the mobile platform to execute a first operation; and if the identification result indicates that the mobile platform is hijacked, controlling the mobile platform to execute a second operation. The first operation may refer to a return, hover at a current location, or other operation, and the second operation may be a drop, hover at a current location, or other operation that may address hijacked behavior. In one embodiment, the first operation may include a return or hover at a current location, and when the recognition result indicates that hijacking behavior of the mobile platform does not occur, it may be determined to control the mobile platform to perform the return or hover operation according to current power information of the mobile platform. If the residual electric quantity of the mobile platform is larger than the preset electric quantity value, the mobile platform can be controlled to execute a first operation hovering at the current position so as to wait for the opportunity to restore connection with the ground station; if the residual electric quantity of the mobile platform is not greater than the preset electric quantity value, the mobile platform can be controlled to return to the navigation so as to ensure the safety of the mobile platform.
In one embodiment, the second operation may include landing or hovering at the current location, and when the recognition result indicates that the hijacking behavior of the mobile platform occurs, the second operation for controlling the mobile platform to perform landing or hovering at the current location may be determined according to state information acquired by the mobile platform, where the state information includes location information of the mobile platform or power information of the mobile platform.
In one embodiment, if the acquired state information of the mobile platform includes location information of the mobile platform, the performing the second operation according to the acquired state information of the mobile platform includes: and sending the position information of the mobile platform to the ground station so that the ground station can search the mobile platform according to the position information. The location information of the mobile platform may include one or more of an environmental image of a current location of the mobile platform, altitude information of the mobile platform, and coordinate information of the mobile platform before an abnormal change of the GNSS signal occurs. When the mobile platform is hijacked, communication interference occurs in the ground station instead of the mobile platform, that is, the mobile platform cannot receive communication signals sent by the ground station, and the ground station can receive signals sent by the mobile platform, so that the mobile platform is controlled to send the position information of the mobile platform to the ground station, the ground station can accurately determine the current position of the mobile platform according to the position information, and a worker of the ground station can quickly find the hijacked mobile platform, so that the safety of the mobile platform is ensured.
The environment image of the current position of the mobile platform can be acquired by calling the image acquisition equipment of the mobile platform after the hijacking behavior of the mobile platform is determined, wherein the environment image comprises images of all directions of the current position of the mobile platform; the altitude information of the mobile platform and the coordinate information of the mobile platform before the GNSS signals are abnormally changed can be obtained by calling a position sensor of the mobile platform. Wherein, the coordinate information of the mobile platform before the GNSS signal is abnormally changed,
in an embodiment, if the obtained state information of the mobile platform is a remaining power of the mobile platform, the implementation manner of controlling the mobile platform to execute the second operation according to the obtained state information of the mobile platform is: if the residual electric quantity of the mobile platform is greater than or equal to the electric quantity threshold value, controlling the mobile platform to hover at the current position; and if the residual electric quantity of the mobile receipt is smaller than the electric quantity threshold value, controlling the mobile platform to drop to the target place. The remaining power of the mobile platform can be expressed in percentage form, for example, the power information of the mobile platform is displayed as 30%, which indicates that the power of the mobile platform remains 30%; the remaining power of the mobile platform may also be represented in other forms, such as a binning display power, which is not specifically limited in the embodiments of the present invention. It can be understood that when the mobile platform is detected to be hijacked, and the mobile platform is controlled to fall to the ground under the condition that the electric quantity of the mobile platform is insufficient to support the mobile platform to hover at the current position, the mobile platform is not hijacked by hijack personnel, and the safety of relevant data in the mobile platform is ensured.
In one embodiment, the power threshold may be set according to the power consumption of the mobile platform and the minimum power required to ensure that the mobile platform falls safely to land, and the power threshold may be any power value greater than the minimum power. The minimum power is the power required to support the mobile platform to safely drop to land. In other words, when the remaining power of the mobile platform is equal to the minimum power, the mobile platform can safely fall to the land; when the residual electric quantity of the mobile platform is smaller than the minimum electric quantity, the residual electric quantity is insufficient to support the mobile platform to safely land, and the mobile platform may fall from the air after a certain period of landing.
In the embodiment of the invention, the target signal is acquired under the condition that the mobile platform is detected to be out of connection with the ground station, and further, whether the mobile platform is hijacked or not is identified by analyzing and processing the target signal, so that an identification result is obtained. And finally, executing corresponding operation according to the identification result and the state information acquired by the mobile platform so as to ensure the safety of the mobile platform.
Referring to fig. 3, which is a flowchart of another method for identifying and coping with hijacking behavior of a mobile platform according to an embodiment of the present invention, the method shown in fig. 3 may include:
Step 301, when a mobile platform is out of connection with a ground station, a reconnection request is sent to the ground station on at least one operating frequency band.
In the embodiment of the invention, the mobile platform and the ground station are determined to be out of connection, and judgment can be performed on at least one layer of communication between the mobile platform and the ground station, for example, a physical layer of a bottom layer or an application layer of a high layer, and when the communication connection is judged to meet the out-of-connection condition, the mobile platform and the ground station can be considered to be out-of-connection; the mobile platform end can also judge, for example, the mobile platform can not receive the signal sent by the ground station, and when judging that the mobile platform end meets the condition of disconnection, the mobile platform and the ground station can be considered to be disconnected. It will be appreciated that determining that the mobile platform is out of contact with the ground station is not limited to the manner illustrated above.
In one embodiment, the manner of determining the loss of communication between the mobile platform and the ground station may be: and judging whether the mobile platform is out of connection with the ground station or not according to a handshake protocol at the communication connection bottom layer. A handshake protocol refers to the need to handshake to determine if a communication connection between a mobile platform and a ground station has been established before information transfer between the two takes place. In the handshake process, the ground station may first send a synchronization signal to the mobile platform, if the mobile platform receives the synchronization signal, confirm the synchronization signal, and send a confirmation signal and one of its own synchronization signals to the ground station, where after the ground station confirms the confirmation signal and the synchronization signal sent by the mobile platform, it indicates that the handshake between the mobile platform and the ground station is successful. If the handshake is successful, the communication connection between the surface mobile platform and the ground station is established, and information can be transmitted; if the handshake failure indicates that the connection between the mobile platform and the ground station is not established, the mobile platform and the ground station cannot transmit information, and when a preset disconnection condition is met, for example, the connection is not established for a certain time, the mobile platform and the ground station are determined to be disconnected. The manner of determining the loss of connectivity between the mobile platform and the ground station may also be: multiple attempts at the communication connection high level initiate a synchronous connection to determine if there is a loss of connectivity between the mobile platform and the ground station. It is understood that the manner of determining that the disconnection occurs through the communication connection layer may be used in the embodiment of the present invention, which is not further described herein.
In yet another embodiment, the manner of determining the loss of communication between the mobile platform and the ground station may be: if the mobile platform detects that the communication signal from the ground station is not received for N times within the preset time period, determining that the mobile platform is out of communication with the ground station. The mobile platform is dependent on the communication signals of the ground station to complete the operations of flying in the air, steering and the like, so the mobile platform can be set to detect whether the communication signals from the ground station are received at preset time intervals. Assuming that N is equal to 6, the preset time period is 3 minutes, and the preset time interval is 20 seconds, at this time, the mobile platform detects whether a communication signal from the ground station is received every 20 seconds within 3 minutes, and if it is detected that no communication signal from the ground station is received 6 times within 3 minutes, which indicates that normal communication cannot be established between the mobile platform and the ground station, the situation can be determined as that the mobile platform is out of contact with the ground station. It will be appreciated that the manner in which the loss of communication between the mobile platform and the ground station is determined may also be: if the mobile platform receives the communication signals from the ground station for less than M times within the preset time period, determining that the mobile platform is out of communication with the ground station; alternatively, the method of determining that the disconnection occurs through the mobile platform end may be used in the embodiment of the present invention, which is not described herein.
In one embodiment, after determining that the mobile platform is out of connection with the ground station, before collecting the target signal, whether the connection between the mobile platform and the ground station can be re-established or not can be further judged, if so, the mobile platform can be determined not to have hijacked, and the hijacked judgment of the mobile platform can be not continued; if not, the step of determining that the mobile platform is hijacked may be continued. Optionally, when the mobile platform is out of contact with the ground station, the acquiring the target signal includes: after determining that the mobile platform is out of connection with the ground station, transmitting a reconnection request to the ground station on at least one operating frequency band; and if the reconnection request fails beyond the preset time, collecting a target signal.
Step 302, if the reconnection request fails beyond a predetermined time, acquiring a target signal, where the target signal includes a scanning signal and a GNSS signal on at least one operating frequency band.
In one embodiment, the reconnection request failure may refer to: after the mobile platform sends the reconnection request to the ground station, no reconnection response sent by the ground station is received beyond a preset time. Optionally, the reconnection request failure may also refer to: and controlling the mobile platform to be synchronized with the ground station on at least one working frequency band, and if the synchronization with the ground station is not successful on each working frequency channel exceeding the preset time, indicating that the Chongqing connection request fails.
In the event that the mobile platform is determined to be out of contact with the ground station and the reconnection fails, the mobile platform may be hijacked. In order to ensure the safety of the mobile platform, the target signal related to the current mobile platform needs to be collected, and whether the mobile platform is hijacked or not is judged by analyzing the target signal. If hijacking actions occur, countermeasures can be timely taken to ensure the safety of the mobile platform.
Step 303, obtaining an interference value of interference on communication between the mobile platform and the ground station in at least one working frequency band according to the scanning signal in at least one working frequency band.
Step 304, judging whether the interference value on at least one working frequency band meets a preset condition.
Optionally, the preset condition may mean that the interference value is greater than the interference threshold, and the interference value on the at least one operating frequency band meeting the preset condition may mean that the interference value on the at least one operating frequency band is greater than the interference threshold. The interference threshold may be understood as the maximum interference value that can be sustained on at least one operating frequency band, while ensuring that normal communication between the mobile platform and the ground station is maintained. In other words, if the interference value of the interference to the communication between the mobile platform and the ground station is greater than the interference threshold value in at least one operating frequency band, the communication between the mobile platform and the ground station is severely affected, so that the communication between the mobile platform and the ground station cannot be performed normally, or even is interrupted.
When the interference value on at least one of the operating frequency bands satisfies the preset condition, indicating that the communication between the mobile platform and the ground station is interfered, step 305 may be further performed; when the interference value on at least one of the working frequency bands does not meet the preset condition, it indicates that communication between the mobile platform and the ground station is not interfered, and the mobile platform is controlled to execute the corresponding operation, and step 305 is not executed. The corresponding operation described herein to control the mobile platform to perform may be a normal return trip. In one embodiment, it may be predetermined that when the mobile platform is out of communication with the ground station, but communication between the mobile platform and the ground station is not disturbed, the mobile platform is controlled to perform a normal return operation to ensure the safety of the mobile platform. In other embodiments, when communication between the mobile platform and the ground station is not interfered, the corresponding operation performed by controlling the mobile platform may also be hovering at the current position to wait for the connection with the ground station to be restored, or other operations capable of ensuring that the mobile platform is in a safe state, which is not particularly limited in the embodiments of the present invention.
Step 305, if the interference value on at least one working frequency band meets a preset condition, determining whether an abnormal change occurs in the GNSS signal in the first period of time.
In one embodiment, steps 304 and 305 indicate that hijacked behavior of the mobile platform is not determined until an anomaly occurs in both the scan signal and the GNSS signal. The order of executing step 304 and step 305 is not limited, and step 305 may be executed first, and then step 304 may be executed, that is, after determining that the GNSS signal is abnormal, then determining whether the scanning signal is abnormal.
Step 306, if the GNSS signal changes abnormally, determining that the mobile platform is hijacked.
The mobile platform performs flight control and position location based on communication signals of the ground station and GNSS signals, and general hijacking actions can achieve the purpose of hijacking the mobile platform by interfering the communication signals of the ground station and forging the GNSS signals. For the GNSS signals, when the environment state of the mobile platform is stable, the GNSS signals are relatively stable, and no large jump occurs. If the GNSS signal changes abnormally in the first period of time, it indicates that the GNSS signal may not belong to the environment where the current mobile platform is located or is not a GNSS signal on a preset positioning flight line where the current mobile platform is located, and the GNSS signal may be forged, at this time, it may be determined that the mobile platform is hijacked.
In one embodiment, the abnormal change of the GNSS signal may refer to a jump of a parameter of the GNSS signal in a first period of time, and specifically, determining whether the abnormal change of the GNSS signal occurs in the first period of time includes: acquiring a first parameter of the GNSS signal at a first target time and acquiring a second parameter of the GNSS signal at a second target time; calculating a difference between the first parameter and the second parameter; and if the difference is greater than a difference threshold, determining that the GNSS signal is abnormally changed in a first time period. Optionally, the first time period refers to any period of time including a time of disconnection when the mobile platform and the ground station are detected to be disconnected, the first target time is any time smaller than the time of disconnection in the first time period, and the second target time is any time greater than or equal to the time of disconnection in the first time period.
The first parameter includes one or more of a first received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location; the second parameter includes one or more of a first received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location. In one embodiment, the first parameter acquired at the first target time may be the same as or different from the second parameter acquired at the second target event, for example, the first parameter acquired at the first target time may be RSSI, and the second parameter acquired at the second target time may be RSSI, or may be SNR, CNR, geographic location, or the like. Calculating a difference between a first parameter acquired at a first target time and a second parameter acquired at a second target event when the first parameter is different from the second parameter, may be calculated by scaling the first parameter or the second parameter to be the same as the second parameter or the first parameter, respectively, or scaling the first parameter or the second parameter to an intermediate parameter; wherein, the conversion process can include acquiring other communication parameters of the mobile platform.
In one embodiment, taking the case that the first parameter and the second parameter are the same, the determining whether the GNSS signal has an abnormal change in the first period of time may be understood as: and judging whether the difference value between the first parameter and the second parameter is larger than a difference value threshold value before and after the disconnection time, if so, indicating that the GNSS signal is abnormally changed, and if not, indicating that the GNSS signal is not abnormally changed. In other embodiments, the determining whether the GNSS signal has changed abnormally during the first time period may be further understood as: and judging whether the difference value between the maximum first parameter value and the minimum first parameter value of the GNSS signals is larger than a preset difference value in the first time period, and if so, determining that the GNSS signals have abnormal changes.
In an embodiment, if the first parameter and the second parameter are the same and are both RSSI, the determining whether the GNSS signal has an abnormal change in the first period of time may specifically include: acquiring a first Received Signal Strength Indication (RSSI) value of the GNSS signal at a first target time, and acquiring a second RSSI value of the GNSS signal at a second target time; calculating a difference between the first RSSI value and the second RSSI value; and if the difference value is larger than the RSSI change threshold value, determining that the GNSS signals are abnormally changed in the first time period. In one embodiment, the RSSI change threshold may be preset, where the first target time is any time less than the disconnection time in the first period, and the second target time is any time greater than or equal to the disconnection time in the first period. For example, assuming that the time of the disconnection of the mobile platform from the ground station is 9 am, the selected first time period may be any period of time including 9 am, assuming that the first time period is 8 am to 10 am, the first target time may refer to any time between 8 am and 9 am, such as 8 half, and the second target time may refer to any time between 9 am and 10 am, such as 9 half.
When the difference between the first RSSI value and the second RSSI value is larger than the RSSI change threshold, the RSSI value of the GNSS signal exceeds the normal change range before and after the mobile platform is out of connection with the ground station, interference or other factors affecting the GNSS signal possibly exist in the period of time, the GNSS signal is falsified, and the mobile platform can be judged to be hijacked.
In still another embodiment, if the first parameter and the second parameter are the same and are both SNR, the determining whether the GNSS signal has an abnormal change in the first period of time specifically includes: acquiring a first signal-to-noise ratio (SNR) of the GNSS signal at a first target time, and acquiring a second SNR of the GNSS signal at a second target time; calculating a difference between the first SNR and the second SNR; and if the difference value is larger than the SNR variation threshold value, determining that the GNSS signal is abnormally changed in the first time period. In the embodiment of the present invention, SNR refers to the ratio of GNSS signals to noise transmitted in a first period of time. The large difference between the first SNR and the second SNR indicates that the GNSS signal changes significantly or the noise signal changes significantly before and after the decoupling. Such a change is not present for a mobile platform that is operating safely, and therefore, when the difference between the first SNR and the second SNR is greater than the SNR threshold, it may be determined that the mobile platform is hijacked.
In other embodiments, if the first parameter and the second parameter are the same and are both CNR, the determining whether the GNSS signal has an abnormal change in the first period of time may specifically include: step 303 may further determine whether an abnormal change occurs in the GNSS signal in the first period according to the CNR value of the GNSS signal in the first period, which specifically includes: acquiring a first carrier signal-to-noise ratio (CNR) of the GNSS signal at a first target time, and acquiring a second CNR of the GNSS signal at a second target time; calculating a difference between the first CNR and the second CNR; and if the difference value is larger than a CNR change threshold value, determining that the GNSS signals have abnormal changes in the first time period. In the embodiment of the invention, the CNR is the ratio between the modulated GNSS signal and the noise signal, and the difference between the first CNR and the second CNR is larger, which indicates that the GNSS signal is larger or the noise signal is larger before and after the disconnection, and the hijacking behavior of the mobile platform can be judged under the condition.
Step 307, controlling the mobile platform to execute a second operation according to the state information acquired by the mobile platform, wherein the state information includes the residual electric quantity of the mobile platform and the position information of the mobile platform.
In one embodiment, the second operation includes landing or hovering over the current location, and the status information acquired by the mobile platform includes location information of the mobile platform and location information of the mobile platform. It may be understood that, according to the state information acquired by the mobile platform, controlling the mobile platform to execute the second operation may be understood as: firstly, the position information of the mobile platform is sent to the ground station so that the ground station can search the mobile platform according to the position information; and determining to control the mobile platform to fall or control the mobile platform to hover at the current position according to the residual electric quantity of the mobile platform. If the mobile platform is controlled to land, the ground station staff can search the landed mobile platform according to the position information sent by the mobile platform and received by the ground station, so that the situation that the mobile platform is lost because the staff does not know the landing position of the mobile platform is avoided.
In one embodiment, according to the remaining power of the mobile platform, the implementation manner of determining to control the mobile platform to land or control the mobile platform to hover at the current position may be: if the residual electric quantity of the mobile platform is greater than or equal to an electric quantity threshold value, controlling the mobile platform to hover at the current position; and if the residual electric quantity of the mobile platform is smaller than the electric quantity threshold value, controlling the mobile platform to drop to a target place.
In one embodiment, the power threshold may be set according to the performance of the mobile platform and the height of the mobile platform, and when the mobile platform is at different heights, the time required for landing on land is different, and the power consumption is different. Assuming that the current height of the mobile platform is in a first height range, the electric quantity threshold value is A; and when the current height of the mobile platform is in the second height range, the electric quantity threshold value is B. In this case, the specific implementation manner of performing the second operation according to the state information acquired by the mobile platform may be: acquiring the current height of the mobile platform, for example, the current height is in a second height range; searching an electric quantity threshold value corresponding to the current height, for example, B; if the residual electric quantity of the mobile platform is larger than B, controlling the mobile platform to hover at the current position; and if the residual electric quantity of the mobile platform is less than or equal to B, controlling the mobile platform to drop to the target place.
If the obtained residual electric quantity of the mobile platform is judged to be larger than the electric quantity threshold value, the current mobile platform has enough electric quantity, the mobile platform can be controlled to fall without urgent need, and the mobile platform can be controlled to hover at the current position to wait for connection recovery with the ground station. When the hijacking behavior of the mobile platform is judged, the mobile platform is not received by the ground station, the communication signals of the ground station are in a state of being out of connection with the ground station, and the GNSS signals received at the moment can be forged, so that after the hijacking behavior of the mobile platform is confirmed, the mobile platform cannot execute corresponding operations according to the indication of any signals, and the communication signals from the ground station are excluded. When the mobile platform detects the communication signal from the ground station, the hijacking behavior is broken, and normal operation can be restored.
And if the residual electric quantity of the mobile platform is less than or equal to the electric quantity threshold value, indicating that the residual electric quantity of the current mobile platform does not support the mobile platform to hover at the current position to wait for the connection with the ground station to be restored, and controlling the mobile platform to drop to the target place. Optionally, after the mobile platform is out of connection with the ground station, the mobile platform cannot receive the communication signal of the ground station, and therefore corresponding operation cannot be performed according to the communication signal of the ground station; the ground station detects that the mobile platform does not execute operation according to the communication signal of the ground station, the mobile platform and the ground station can be determined to be out of connection, and the ground station can record the current position of the mobile platform, so that after the mobile platform falls to a target place, relevant staff of the ground station can find the mobile platform from the position accessory of the mobile platform before falling.
In one embodiment, to ensure the safety of the mobile platform, before the mobile platform is controlled to land to the target location, the target location suitable for landing is first determined for the mobile platform, and the specific manner of determining the target location may be: and determining the target place according to the current position of the mobile platform. Determining a target place according to the position of the mobile platform comprises the following steps: if the mobile platform is positioned above the touchable location, determining the touchable location as the target location; if the mobile platform is positioned above the non-touchable place, identifying the touchable place closest to the current position of the mobile platform through visual perception equipment of the mobile platform, and determining the closest touchable place as a target place.
In one embodiment, a touchdown point may refer to a broad ground surface and a non-touchdown point may refer to a sea surface or a tree. In other embodiments, the touchdown locations and the non-touchdown locations may be defined according to the volume and performance of the mobile platform, and are not particularly limited in the embodiments of the present invention. Determining a target landing place according to the current position of the mobile platform, firstly, acquiring the environment below the current position of the mobile platform, and if the lower part of the mobile platform is a spacious ground, landing the control mobile platform below the current position; if the ocean or the forest is arranged below the mobile platform, the visual perception equipment of the mobile platform needs to be called to find the ground closest to the current position, and the mobile platform is controlled to fall to the nearest ground.
According to the embodiment of the invention, under the condition that the mobile platform is detected to be out of connection with the ground station, the scanning signal and the GNSS signal on at least one working frequency band are collected. And then analyzing and processing the scanning signals, further judging whether the GNSS signals are abnormally changed under the condition that the scanning signals on at least one working frequency band are interfered, and if so, indicating that the mobile platform is hijacked, and further executing corresponding coping operations according to the acquired current state information of the mobile platform so as to ensure the safety of the mobile platform.
Referring to fig. 4, a device for identifying and coping with hijacking behavior of a mobile platform according to an embodiment of the present invention, where the device as shown in fig. 4 may include: a memory 401 and a processor 402, wherein the memory 401 and the processor 402 are connected through a bus 403, a program code is stored in the memory 401, the processor 402 calls the program code in the memory, and when the program code is executed, the processor 402 performs the following operations: when the mobile platform is out of connection with the ground station, collecting a target signal; analyzing and processing the target signal, and identifying whether the mobile platform is hijacked or not to obtain an identification result; and executing corresponding operation according to the identification result and the state information acquired by the mobile platform.
Optionally, the processor 402 performs the following operations when the mobile platform is out of contact with a ground station to collect a target signal:
after determining that the mobile platform is out of connection with the ground station, sending a reconnection request to the ground station on at least one working frequency band;
and if the reconnection request fails beyond the preset time, acquiring the target signal.
Optionally, the target signal includes one or more of a scanning signal and a global navigation satellite system GNSS signal on at least one operating frequency band of the mobile platform.
Optionally, the processor 402 performs analysis processing on the target signal, and performs the following operations when identifying whether the mobile platform is hijacked:
acquiring an interference value of interference on communication between the mobile platform and the ground station on the at least one working frequency band according to the scanning signal on the at least one working frequency band;
if the interference value on the at least one working frequency band does not meet the preset condition, determining that the mobile platform is not hijacked, and controlling the mobile platform to execute corresponding operation.
Optionally, the processor 402 performs analysis processing on the target signal, and performs the following operations when identifying whether the mobile platform is hijacked:
acquiring an interference value of interference on communication between the mobile platform and the ground station on the at least one working frequency band according to the scanning signal on the at least one working frequency band;
and if the interference value on the at least one working frequency band meets a preset condition, determining that the mobile platform is hijacked.
Optionally, before the processor 402 determines that the mobile platform is hijacked, the following operations are further performed:
Judging whether the GNSS signals have abnormal changes in a first time period;
and if the GNSS signal is abnormally changed in the first time period, determining that the mobile platform is hijacked.
Optionally, the processor 402 performs analysis processing on the target signal, and performs the following operations when identifying whether the mobile platform is hijacked:
judging whether the GNSS signals have abnormal changes in a first time period;
and if the GNSS signal is abnormally changed in the first time period, determining that the mobile platform is hijacked.
Optionally, the first period of time includes a time of disconnection of the mobile platform from the ground station.
Optionally, the processor 402 determines whether the GNSS signal has abnormal changes in a first period of time, and performs the following operations:
acquiring a first parameter of the GNSS signal at a first target time and acquiring a second parameter of the GNSS signal at a second target time;
calculating a difference between the first parameter and the second parameter;
if the difference is greater than a difference threshold, determining that the GNSS signal is abnormally changed in the first time period;
Optionally, the first target time is any time smaller than the disconnection time in the first time period, and the second target time is any time greater than or equal to the disconnection time in the first time period.
Optionally, the first parameter includes one or more of a first received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location; the second parameter includes one or more of a first received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location.
Optionally, when the processor 402 executes the corresponding operation according to the identification result and the status information acquired by the mobile platform, the following operation is executed:
if the identification result indicates that the mobile platform is not hijacked, controlling the mobile platform to execute a first operation;
and if the identification result indicates that the mobile platform is hijacked, controlling the mobile platform to execute a second operation according to the state information acquired by the mobile platform.
Optionally, the state information includes location information of the mobile platform, and when the processor 402 controls the mobile platform to execute the second operation according to the state information acquired by the mobile platform, the following operations are executed:
Transmitting the position information of the mobile platform to the ground station so that the ground station can search the mobile platform according to the position information;
wherein, the location information of the mobile platform includes: one or more of an environmental image of a current position of a mobile platform, altitude information of the mobile platform, and coordinate information of the mobile platform before the GNSS signal is abnormally changed.
Optionally, the state information includes a remaining power of the mobile platform, and when the processor 402 controls the mobile platform to execute the second operation according to the state information acquired by the mobile platform, the following operations are executed:
if the residual electric quantity of the mobile platform is greater than or equal to an electric quantity threshold value, controlling the mobile platform to hover at the current position;
and if the residual electric quantity of the mobile platform is smaller than the electric quantity threshold value, controlling the mobile platform to drop to a target place.
Optionally, before the processor 402 controls the mobile platform to drop to the target location, the following operations are further performed:
if the mobile platform is positioned above the touchable location, determining the touchable location as the target location;
and if the mobile platform is positioned above the non-touchable place, identifying the touchable place closest to the current position of the mobile platform through the visual perception equipment of the mobile platform, and determining the closest touchable place as the target place.
Optionally, before the processor 402 controls the mobile platform to drop to the target location, the following operations are further performed:
if the mobile platform is positioned above the touchable location, determining the touchable location as the target location;
and if the mobile platform is positioned above the non-touchable place, identifying the touchable place closest to the current position of the mobile platform through the visual perception equipment of the mobile platform, and determining the closest touchable place as the target place.
Optionally, before the processor 402 collects the target signal, the following operations are further performed:
if it is detected that the communication signal from the ground station is not received within a second period of time, determining that the mobile platform is out of communication with the ground station.
Optionally, before the processor 402 collects the target signal, the following operations are further performed:
acquiring a communication signal-to-noise ratio between the mobile platform and the ground station in a third time period;
and if the communication signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold, determining that the mobile platform is out of connection with the ground station.
The embodiment of the invention also provides a mobile platform, which comprises:
A body;
the power system is arranged on the machine body and used for providing power for the mobile platform;
and the device for identifying and coping hijacking behavior of the mobile platform provided by the embodiment.
Optionally, the mobile platform further comprises a visual perception device;
the visual perception device is arranged on the machine body and used for identifying the touchable place closest to the current position of the mobile platform.
Optionally, the mobile platform further includes:
and the communication equipment is arranged on the machine body and used for carrying out information interaction with the ground station.
Optionally, the mobile platform further includes:
the image acquisition equipment is arranged on the machine body and used for acquiring an environment image of the current position of the mobile platform.
Optionally, the mobile platform further includes:
the position sensor is arranged on the machine body and used for acquiring the height information of the mobile platform and/or acquiring the coordinate information of the mobile platform before the GNSS signal of the global satellite navigation system is abnormally changed.
Optionally, the mobile platform at least includes one of the following: unmanned plane, car.
The implementation manner and the beneficial effects of the mobile platform provided in this embodiment are similar to those of the mobile device provided in the foregoing embodiment, and are not repeated here.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
The above disclosure is illustrative only of some embodiments of the invention and is not intended to limit the scope of the invention, which is defined by the claims and their equivalents.
Claims (35)
1. A method for identifying and coping with hijacking behavior of a mobile platform, comprising:
when the mobile platform is out of connection with a ground station, acquiring target signals, wherein the target signals comprise one or more of scanning signals and Global Navigation Satellite System (GNSS) signals on at least one working frequency band of the mobile platform;
if the scanning signal on at least one working frequency band of the mobile platform and/or the GNSS signal is abnormally changed in a first time period, generating an identification result for indicating the mobile platform to be hijacked;
And executing corresponding operation according to the identification result and the state information acquired by the mobile platform.
2. The method of claim 1, wherein the acquiring the target signal when the mobile platform is out of contact with a ground station comprises:
after determining that the mobile platform is out of connection with the ground station, sending a reconnection request to the ground station on at least one working frequency band;
and if the reconnection request fails beyond the preset time, acquiring the target signal.
3. The method of claim 1, wherein the target signal comprises a scanning signal over at least one operating frequency band of the mobile platform; the method further comprises the steps of:
acquiring an interference value of interference on communication between the mobile platform and the ground station on the at least one working frequency band according to the scanning signal on the at least one working frequency band;
if the interference value on the at least one working frequency band does not meet the preset condition, determining that the mobile platform is not hijacked, and controlling the mobile platform to execute corresponding operation.
4. The method of claim 1, wherein the method further comprises:
Acquiring an interference value of interference on communication between the mobile platform and the ground station on the at least one working frequency band according to the scanning signal on the at least one working frequency band;
if the interference value on the at least one working frequency band meets a preset condition, determining that the scanning signal on the at least one working frequency band of the mobile platform is abnormally changed.
5. The method of claim 1, wherein the first period of time comprises a time of absence of detection of the mobile platform being out of contact with the ground station.
6. The method of claim 5, wherein the method further comprises:
acquiring a first parameter of the GNSS signal at a first target time and acquiring a second parameter of the GNSS signal at a second target time;
calculating a difference between the first parameter and the second parameter;
and if the difference is greater than a difference threshold, determining that the GNSS signal is abnormally changed in a first time period.
7. The method of claim 6, wherein the first target time is any time less than the time of the disconnection time in the first period of time, and the second target time is any time greater than or equal to the time of the disconnection time in the first period of time.
8. The method of claim 7, wherein the first parameter comprises one or more of a first received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location; the second parameter includes one or more of a second received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location.
9. The method of claim 1, wherein the performing the corresponding operation according to the identification result and the status information acquired by the mobile platform comprises:
if the identification result indicates that the mobile platform is hijacked, controlling the mobile platform to execute a second operation according to the state information acquired by the mobile platform;
the method further comprises the steps of:
and if the mobile platform is identified not to be hijacked, controlling the mobile platform to execute a first operation.
10. The method of claim 9, wherein the status information includes location information of the mobile platform, and wherein the controlling the mobile platform to perform the second operation based on the status information acquired by the mobile platform comprises:
transmitting the position information of the mobile platform to the ground station so that the ground station can search the mobile platform according to the position information;
Wherein, the location information of the mobile platform includes: one or more of an environmental image of a current position of a mobile platform, altitude information of the mobile platform, and coordinate information of the mobile platform before the GNSS signal is abnormally changed.
11. The method of claim 9, wherein the status information includes a remaining power of the mobile platform, and the controlling the mobile platform to perform the second operation according to the status information acquired by the mobile platform comprises:
if the residual electric quantity of the mobile platform is greater than or equal to an electric quantity threshold value, controlling the mobile platform to hover at the current position;
and if the residual electric quantity of the mobile platform is smaller than the electric quantity threshold value, controlling the mobile platform to drop to a target place.
12. The method of claim 10, wherein the controlling the mobile platform prior to landing to a target location further comprises:
if the mobile platform is positioned above the touchable location, determining the touchable location as the target location;
and if the mobile platform is positioned above the non-touchable place, identifying the touchable place closest to the current position of the mobile platform through the visual perception equipment of the mobile platform, and determining the closest touchable place as the target place.
13. The method of claim 1, wherein prior to the acquiring the target signal, the method further comprises:
if it is detected that the communication signal from the ground station is not received within a second period of time, determining that the mobile platform is out of communication with the ground station.
14. The method of claim 1, wherein prior to the acquiring the target signal, the method further comprises:
acquiring a communication signal-to-noise ratio between the mobile platform and the ground station in a third time period;
and if the communication signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold, determining that the mobile platform is out of connection with the ground station.
15. A hijacking behavior recognition and response device for a mobile platform, comprising a memory and a processor:
the memory is used for storing program codes;
the processor invokes the program code, which when executed, is operable to:
when the mobile platform is out of connection with a ground station, acquiring target signals, wherein the target signals comprise one or more of scanning signals and Global Navigation Satellite System (GNSS) signals on at least one working frequency band of the mobile platform;
If the scanning signal on at least one working frequency band of the mobile platform and/or the GNSS signal is abnormally changed in a first time period, generating an identification result for indicating the mobile platform to be hijacked;
and executing corresponding operation according to the identification result and the state information acquired by the mobile platform.
16. The apparatus of claim 15, wherein the processor collects target signals when the mobile platform is out of contact with a ground station, performing the operations of:
after determining that the mobile platform is out of connection with the ground station, sending a reconnection request to the ground station on at least one working frequency band;
and if the reconnection request fails beyond the preset time, acquiring the target signal.
17. The apparatus of claim 15, wherein the target signal comprises a scanning signal over at least one operating frequency band of the mobile platform; the processor is further configured to perform the following operations:
acquiring an interference value of interference on communication between the mobile platform and the ground station on the at least one working frequency band according to the scanning signal on the at least one working frequency band;
If the interference value on the at least one working frequency band does not meet the preset condition, determining that the mobile platform is not hijacked, and controlling the mobile platform to execute corresponding operation.
18. The apparatus of claim 15, wherein the processor is further configured to:
acquiring an interference value of interference on communication between the mobile platform and the ground station on the at least one working frequency band according to the scanning signal on the at least one working frequency band;
if the interference value on the at least one working frequency band meets a preset condition, determining that the scanning signal on the at least one working frequency band of the mobile platform is abnormally changed.
19. The apparatus of claim 15, wherein the first period of time comprises a time of absence of detection of the mobile platform being out of contact with the ground station.
20. The apparatus of claim 19, wherein the processor is further configured to:
acquiring a first parameter of the GNSS signal at a first target time and acquiring a second parameter of the GNSS signal at a second target time;
calculating a difference between the first parameter and the second parameter;
And if the difference is greater than a difference threshold, determining that the GNSS signal is abnormally changed in the first time period.
21. The apparatus of claim 20, wherein the first target time is any time less than the time of the disconnection time in the first period of time, and the second target time is any time greater than or equal to the time of the disconnection time in the first period of time.
22. The apparatus of claim 21, wherein the first parameter comprises one or more of a first received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location; the second parameter includes one or more of a second received signal strength indication, RSSI, signal to noise ratio, SNR, carrier signal to noise ratio, CNR, and geographic location.
23. The apparatus of claim 15, wherein the processor performs the following operations when performing the corresponding operations based on the recognition result and the state information acquired by the mobile platform:
if the identification result indicates that the mobile platform is hijacked, controlling the mobile platform to execute a second operation according to the state information acquired by the mobile platform;
The processor is further configured to perform the following operations:
and if the identification result indicates that the mobile platform does not generate hijacked behaviors, controlling the mobile platform to execute a first operation.
24. The apparatus of claim 23, wherein the status information comprises location information of a mobile platform, and wherein the processor, based on the status information obtained by the mobile platform, when controlling the mobile platform to perform the second operation, performs the following operations:
transmitting the position information of the mobile platform to the ground station so that the ground station can search the mobile platform according to the position information;
wherein, the location information of the mobile platform includes: one or more of an environmental image of a current position of a mobile platform, altitude information of the mobile platform, and coordinate information of the mobile platform before the GNSS signal is abnormally changed.
25. The apparatus of claim 23, wherein the status information comprises a remaining power of the mobile platform, and wherein the processor, based on the status information obtained by the mobile platform, when controlling the mobile platform to perform the second operation, performs the following operations:
if the residual electric quantity of the mobile platform is greater than or equal to an electric quantity threshold value, controlling the mobile platform to hover at the current position;
And if the residual electric quantity of the mobile platform is smaller than the electric quantity threshold value, controlling the mobile platform to drop to a target place.
26. The apparatus of claim 24, wherein the processor further performs the following before controlling the mobile platform to drop to a target location:
if the mobile platform is positioned above the touchable location, determining the touchable location as the target location;
and if the mobile platform is positioned above the non-touchable place, identifying the touchable place closest to the current position of the mobile platform through the visual perception equipment of the mobile platform, and determining the closest touchable place as the target place.
27. The apparatus of claim 15, wherein the processor further performs the following before collecting the target signal:
if it is detected that the communication signal from the ground station is not received within a second period of time, determining that the mobile platform is out of communication with the ground station.
28. The apparatus of claim 15, wherein the processor further performs the following before collecting the target signal:
acquiring a communication signal-to-noise ratio between the mobile platform and the ground station in a third time period;
And if the communication signal-to-noise ratio is smaller than a preset signal-to-noise ratio threshold, determining that the mobile platform is out of connection with the ground station.
29. A mobile platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power for the mobile platform;
and the means for identifying and coping with hijacking behaviour of a mobile platform according to any one of claims 15-28.
30. The mobile platform of claim 29, wherein the mobile platform further comprises a visual perception device;
the visual perception device is arranged on the machine body and used for identifying the touchable place closest to the current position of the mobile platform.
31. The mobile platform of claim 29, wherein the mobile platform further comprises:
and the communication equipment is arranged on the machine body and used for carrying out information interaction with the ground station.
32. The mobile platform of claim 29, wherein the mobile platform further comprises:
the image acquisition equipment is arranged on the machine body and used for acquiring an environment image of the current position of the mobile platform.
33. The mobile platform of claim 29, wherein the mobile platform further comprises:
The position sensor is arranged on the machine body and used for acquiring the height information of the mobile platform and/or acquiring the coordinate information of the mobile platform before the GNSS signal of the global satellite navigation system is abnormally changed.
34. The mobile platform of claims 29-33, wherein the mobile platform comprises at least one of: unmanned plane, automobile, remote control model.
35. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of recognition and coping with hijacking behaviour of a mobile platform according to any one of claims 1-14.
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| PCT/CN2018/107981 WO2020061904A1 (en) | 2018-09-27 | 2018-09-27 | Method and apparatus for identifying and coping with behavior of mobile platform being hijacked, and mobile platform |
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| CN102955478A (en) * | 2012-10-24 | 2013-03-06 | 深圳一电科技有限公司 | Unmanned aerial vehicle flying control method and unmanned aerial vehicle flying control system |
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| WO2018072133A1 (en) * | 2016-10-19 | 2018-04-26 | 深圳市大疆创新科技有限公司 | Method for controlling mobile device, control system and mobile device |
| WO2018191986A1 (en) * | 2017-04-21 | 2018-10-25 | 深圳市大疆创新科技有限公司 | Search method for unmanned aerial vehicle, and ground control terminal |
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| CN102955478A (en) * | 2012-10-24 | 2013-03-06 | 深圳一电科技有限公司 | Unmanned aerial vehicle flying control method and unmanned aerial vehicle flying control system |
| CN105652884A (en) * | 2016-02-15 | 2016-06-08 | 英华达（上海）科技有限公司 | Unmanned aerial vehicle flying method and unmanned aerial vehicle flying system |
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